WO1994003113A1 - Automated endoscope system for optimal positioning - Google Patents

Automated endoscope system for optimal positioning Download PDF

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Publication number
WO1994003113A1
WO1994003113A1 PCT/US1993/007343 US9307343W WO9403113A1 WO 1994003113 A1 WO1994003113 A1 WO 1994003113A1 US 9307343 W US9307343 W US 9307343W WO 9403113 A1 WO9403113 A1 WO 9403113A1
Authority
WO
WIPO (PCT)
Prior art keywords
εaid
firεt
end effector
actuator
axiε
Prior art date
Application number
PCT/US1993/007343
Other languages
French (fr)
Inventor
Yulun Wang
Keith Phillip Laby
Original Assignee
Computer Motion, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=27357912&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO1994003113(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Computer Motion, Inc. filed Critical Computer Motion, Inc.
Priority to EP93919884A priority Critical patent/EP0653922B2/en
Priority to AU48084/93A priority patent/AU4808493A/en
Priority to AT93919884T priority patent/ATE187622T1/en
Priority to DE69327325T priority patent/DE69327325T3/en
Priority to JP50555094A priority patent/JP3298013B2/en
Priority to JP50637795A priority patent/JP3217791B2/en
Publication of WO1994003113A1 publication Critical patent/WO1994003113A1/en
Priority to GR20000400660T priority patent/GR3032960T3/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Definitions

  • the present invention relates to a robotic system for remotely controlling the position of a surgical instrument.
  • Endoscopes typically contain a lens that is coupled to a visual display by a fiber optic cable. Such a system allows the user to remotely view an image in front of the scope.
  • Endoscopes are commonly used in a surgical procedure known as laparoscopy, which involves inserting the endoscope into the patient through a small incision in the abdomen. The endoscope allows the surgeon to internally view the patient without being in a direct line of sight with the object. The use of an endoscope typically reduces the size of the incision needed to perform a surgical procedure.
  • Endoscopes are commonly used to assist the surgeon in removing the gall bladder of a patient. Because the surgeon typically requires both hands to remove a gall bladder, the endoscope must be held and operated by a assistant. During the surgical procedure, the surgeon must frequently instruct the assistant to move the endoscope within the patient. Such a method can be time consuming as the surgeon may have to relay a series of instructions until the assistant has positioned the endoscope in the proper location. Additionally, the assistant may be unable to consistently hold the instrument in a fixed position, resulting in a moving image. This is particularly true for surgical procedures that extend over a long period of time.
  • the Leonard Medical system is an articulated mechanism which has a plurality of pneumatically powered joints that hold the endoscope in a fixed position. To move the endoscope, the pneumatic powered joints must be initially released into a relaxed condition. The surgeon or assistant then moves the scope and reactivates the pneumatic system. Although the Leonard system holds the endoscope in one position, the system requires the surgeon or assistant to constantly deactivate/activate the pneumatics and manually move the scope. Such a system interrupts the surgery process and increases the time of the surgical procedure. It would be desirable to provide a system that allows the surgeon to directly and efficiently control the movement of an endoscope.
  • the present invention is a robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon.
  • the robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope.
  • the end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient.
  • the system includes a computer which controls the movement of the robotic arm in response to input signals from the foot pedal.
  • the computer computes the amount of incremental movement required to move the end effector in accordance with a set of algorithms.
  • the algorithms transform the input of the foot pedal so that the movement of the endoscope as seen by the surgeon is always in the same direction as the movement of the foot pedal.
  • the end effector is manipulated so that the scope always moves relative to the image in an up or down direction as viewed by the surgeon.
  • the robotic system is also moved in accordance with an algorithm that insures a consistent orientation of the image viewed by the surgeon.
  • Figure 1 is a side view of a robotic system of the present invention
  • Figure 2 is a top view of the robotic system of Fig. 1;
  • Figure 3 is a top view of an end effector used to hold an endoscope
  • Figure 4 is a top view of a foot pedal of the system of Fig. 1;
  • Figure 5 is a cross-sectional view of the foot pedal of Fig. 4;
  • Figure 6 is a schematic of a computer of the robotic system shown in Fig. 1;
  • Figure 7 is a schematic of the endoscope oriented in a second coordinate system
  • Figure 8 is a flowchart showing the operation of the system
  • Figure 9 is a graph showing the incremental movement of the robotic arm assembly
  • Figure 10 i ⁇ a cross-sectional view of the robotic arm assembly showing actuators coupled to clutch and drive train assemblies;
  • Figure 11 is a side view of the system showing a protective sterile bag which encapsulates the robotic arm assembly;
  • Figure 12 is a cross-sectional view of an alternate embodiment of the end effector;
  • Figure 13 is a perspective view of an alternate embodiment of an end effector which has a worm gear that is operatively coupled to the surgical instrument;
  • Figure 14 is a perspective view of an alternate embodiment of a robotic system which incorporates the worm gear joint of Fig. 13;
  • Figure 15 is a schematic of a surgical instrument that defines a third coordinate system located within a fourth fixed coordinate system
  • Figure 16 is a schematic of the surgical instrument being moved relative to a pivot point.
  • Figures 1 and 2 show a robotic system 10 of the present invention.
  • the system 10 is typically used in a sterile operating room where a surgeon (not shown) performs a surgical procedure on a patient 12.
  • the patient 12 is placed on a operating table 14.
  • Attached to the table 14 is a robotic arm assembly 16 which can move a surgical instrument 18 relative to the table 14 and the patient 12.
  • the surgical instrument 18 is typically an endoscope which is inserted into the abdomen of the patient 12.
  • the endoscope 18 enters the patient through cannula, wherein the scope 18 rotate about a cannula pivot point.
  • the endoscope is typically connected to a display screen (not shown) which allows the surgeon to view the organs, etc. of the patient.
  • a display screen not shown
  • the ⁇ ystem 10 has a computer 20 that i ⁇ connected to the robotic arm a ⁇ sembly 16 and a foot pedal 22.
  • the foot pedal 22 i ⁇ located in close proximity to the operating table 14, ⁇ o that the ⁇ urgeon can operate the foot pedal 22 while performing a ⁇ urgical procedure.
  • the robotic arm as ⁇ embly 16 include ⁇ a linear actuator 24 fixed to the table 14.
  • the linear actuator 24 i ⁇ connected to a linkage arm a ⁇ sembly 26 and adapted to move the linkage assembly 26 along the z axis of a first coordinate system.
  • the first coordinate system also has an x axis and a y axis.
  • the linear actuator 24 preferably has an electric motor which turn ⁇ a ball ⁇ crew that move ⁇ the output ⁇ haft of the actuator.
  • the linkage arm a ⁇ embly 26 include ⁇ a fir ⁇ t linkage arm 28 attached to a fir ⁇ t rotary actuator 30 and an end effector 32.
  • the fir ⁇ t rotary actuator 30 i ⁇ adapted to rotate the fir ⁇ t linkage arm 28 and end effector 32 in a plane perpendicular to the z axi ⁇ (x-y plane) .
  • the fir ⁇ t rotary actuator 30 i ⁇ connected to a ⁇ econd rotary actuator 34 by a ⁇ econd linkage arm 36.
  • the ⁇ econd actuator 34 i ⁇ adapted to rotate the first actuator 30 in the x-y plane.
  • the second rotary actuator 34 is connected to a third rotary actuator 38 by a third linkage arm 40.
  • the third rotary actuator 38 is connected to the output ⁇ haft of the linear actuator 24 and adapted to rotate the ⁇ econd rotary actuator 34 in the x-y plane.
  • the rotary actuator ⁇ are preferably electric motor ⁇ with output ⁇ haft ⁇ attached to the re ⁇ pective linkage arm ⁇ .
  • the actuators 30, 34 and 38 preferably have gear reduction boxes to increase the torque at the linkage arms relative to the electric motors.
  • the electric motor ⁇ of the actuator ⁇ 24, 30, 34 and 38 rotate in re ⁇ ponse to output signal ⁇ provided by the computer 20.
  • the end effector 32 ha ⁇ a clamp 42 which can grasp and hold the endoscope 18.
  • the clamp 42 may be constructed a ⁇ a wire with a loop that ha ⁇ a diameter ⁇ maller than the out ⁇ ide diameter of the ⁇ cope 18.
  • the clamp 42 allows the ⁇ cope to be easily attached to and removed from the robotic arm as ⁇ embly 16.
  • a ⁇ imple wire clamp i ⁇ shown and described it is to be understood that the end effector 32 may have any means required to secure the surgical instrument 18.
  • the junction of the endoscope 18 and the end effector 32 define a second coordinate system which has an x' axis, a y' axi ⁇ and a z' axi ⁇ .
  • the junction of the end effector 32 and endoscope 18 also define the origin of a third coordinate sy ⁇ tem which has a x" axis, a y" axis and a z" axi ⁇ that is parallel with the longitudinal axis of the endoscope 18.
  • the end effector 32 has a shaft 44 which can be coupled to the first linkage arm 28.
  • the first linkage arm 28 may have a bearing which allows the end effector 32 to rotate about the longitudinal axis of the arm 28.
  • the end effector 32 may be con ⁇ tructed so that the clamp 42 and scope 18 can rotate about the y' axis.
  • the end effector 32 is preferably constructed to be detached from the first linkage arm 28, so that a sterile instrument can be used for each surgical procedure.
  • the robotic system 10 may also have a bag or cover to encapsulate the robotic arm as ⁇ embly 16 to keep the a ⁇ embly 16 sterile.
  • the actuators 24, 30, 34 and 38 may each have position sen ⁇ or ⁇ 46-52 that are connected to the computer 20.
  • the sensor ⁇ may be potentiometer ⁇ that can ⁇ en ⁇ e the rotational movement of the electric motor ⁇ and provide feedback ⁇ ignals to the computer 20.
  • the end effector 32 may al ⁇ o have a first joint position sen ⁇ or 54 that senses the angular displacement of the effector about the x' axis and a ⁇ econd joint po ⁇ ition ⁇ ensor 55 which sen ⁇ e ⁇ the angular displace of the scope about the y' axis.
  • Figure ⁇ 4 and 5 ⁇ how a preferred embodiment of the foot pedal 22.
  • the foot pedal 22 has a housing 56 that support ⁇ a fir ⁇ t foot ⁇ witch 58 and a ⁇ econd foot ⁇ witch 60.
  • the fir ⁇ t foot ⁇ witch 58 ha ⁇ a first pres ⁇ ure tran ⁇ ducer 62 and a ⁇ econd pre ⁇ ure tran ⁇ ducer 64.
  • the ⁇ econd foot switch 60 has third 66, fourth 68, fifth 70 and sixth 72 pres ⁇ ure tran ⁇ ducer ⁇ .
  • the tran ⁇ ducer ⁇ are each connected to a corre ⁇ ponding operational amplifier that provide ⁇ a voltage input to the computer 20.
  • the pre ⁇ ure tran ⁇ ducer ⁇ 62-72 are constructed so that the resi ⁇ tance of each transducer decrea ⁇ e ⁇ a ⁇ the ⁇ urgeon increa ⁇ e ⁇ the pre ⁇ ure on the foot switches. Such a transducer is sold by Interlink Electronics.
  • the decrea ⁇ ing transducer resi ⁇ tance increases the input voltage provided to the computer 20 from the operational amplifier.
  • Each transducer correspond ⁇ to a predetermined direction in the third coordinate system.
  • the first pres ⁇ ure tran ⁇ ducer 62 corre ⁇ pond ⁇ to moving the endo ⁇ cope toward the image viewed by the ⁇ urgeon.
  • the ⁇ econd tran ⁇ ducer 64 moves the scope away from the image.
  • the third 66 and fourth 68 tran ⁇ ducer ⁇ move the scope 18 "up” and “down”, respectively, and the fifth 70 and ⁇ ixth 72 tran ⁇ ducer ⁇ move the ⁇ cope 18 "left” and “right”, re ⁇ pectively.
  • Figure 6 shows ⁇ a ⁇ chematic of the computer 20.
  • the computer 20 has a multiplexer 74 which is connected to the pre ⁇ sure transducer ⁇ and the po ⁇ ition sen ⁇ ors .
  • the multiplexer 74 has 12 channel ⁇ , one channel for each sensor and transducer.
  • the multiplexer 74 is connected to a ⁇ ingle analog to digital (A/D) converter 76.
  • the computer also has a proces ⁇ or 78 and memory 80.
  • the A/D converter 76 i ⁇ con ⁇ tructed ⁇ o that the converter can provide the proce ⁇ or 78 with a binary ⁇ tring for each voltage level received from the input ⁇ ignal ⁇ of the ⁇ y ⁇ tem.
  • the tran ⁇ ducer ⁇ may provide a voltage ranging between -10 to 10 volt ⁇ (V) and the converter 76 may output a different 12 bit binary ⁇ tring for each voltage level.
  • An input ⁇ ignal of 1.0 V may corre ⁇ pond to the binary ⁇ tring 000011001010, 2.0 V may corre ⁇ pond to 000111010100 and so forth and so on.
  • the proces ⁇ or 78 i ⁇ connected to an addre ⁇ decoder 82 and four ⁇ eparate digital to analog (D/A) converter ⁇ 84.
  • Each D/A converter i ⁇ connected to an actuator 26, 30, 34 or 38.
  • the D/A converter ⁇ 84 provide analog output ⁇ ignals to the actuators in re ⁇ pon ⁇ e to output signals received from the proces ⁇ or 78.
  • the analog output ⁇ ignal ⁇ preferably have a ⁇ ufficient voltage level to energize the electric motors and move the robotic arm as ⁇ embly.
  • the D/A converters 84 may be constructed so that a binary 1 from the proces ⁇ or produce ⁇ an analog output ⁇ ignal that drive ⁇ the motor ⁇ .
  • the motor ⁇ are energized for a ⁇ long a ⁇ the proce ⁇ or provide ⁇ a binary 1 output ⁇ ignal.
  • the decoder 82 correlate ⁇ the addre ⁇ e ⁇ provided by the proce ⁇ sor with a corresponding D/A converter, ⁇ o that the correct motor( ⁇ ) i ⁇ driven.
  • the addre ⁇ decoder 82 al ⁇ o provides an addre ⁇ for the input data from the A/D converter ⁇ o that the data i ⁇ a ⁇ ociated with the correct input channel.
  • the proce ⁇ or 78 co pute ⁇ the movement of the robotic arm a ⁇ sembly 16 in accordance with the following equation ⁇ . ⁇
  • a2 angle between the third linkage arm and the x axis.
  • a3 angle between the second linkage arm and the longitudinal axis of the third linkage arm.
  • a4 angle between the first linkage arm and the longitudinal axis of the second linkage arm.
  • LI length of the third linkage arm.
  • L2 length of the second linkage arm.
  • L3 length of the fir ⁇ t linkage arm.
  • ⁇ the angle between the first linkage arm and the x' axis of the second coordinate sy ⁇ tem.
  • X x coordinate of the end effector in the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • y y coordinate of the end effector in the fir ⁇ t coordinate system.
  • the proces ⁇ or 78 compute ⁇ the change in angles a2 , a3 and a4, and then provides output signal ⁇ to move the actuators accordingly.
  • the original angular po ⁇ ition of the end effector is provided to the processor 78 by the sen ⁇ or ⁇ 46-55.
  • the processor moves the linkage arms an angle that corresponds to the difference between the new location and the original location of the end effector.
  • a differential angle ⁇ a2 corresponds to the amount of angular displacement provided by the third actuator 38
  • a differential angle ⁇ a 3 correspond ⁇ to the amount of angular di ⁇ placement provided by the second actuator 34
  • a differential angle ⁇ a 4 corresponds to the amount of angular displacement provided by the first actuator 30.
  • the system is con ⁇ tructed so that the movement of the surgical instrument a ⁇ ⁇ een by the ⁇ urgeon, is always in the same direction as the movement of the foot pedal.
  • the proces ⁇ or 78 convert ⁇ the desired movement of the end of the endo ⁇ cope in the third coordinate ⁇ y ⁇ tem to coordinates in the second coordinate sy ⁇ tem, and then converts the coordinates of the second coordinate sy ⁇ tem into the coordinate ⁇ of the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • the de ⁇ ired movement of the endoscope is converted from the third coordinate sy ⁇ tem to the ⁇ econd coordinate ⁇ ystem by u ⁇ ing the following tran ⁇ formation matrix;
  • Ay " the desired incremental movement of the scope along the y" axis of the third coordinate system.
  • Az " the desired incremental movement of the scope along the z" axis of the third coordinate sy ⁇ tem.
  • a5 the angle between the z' axi ⁇ and the ⁇ cope in the y'-z' plane.
  • a6 the angle between the z ' axi ⁇ and the ⁇ cope in the x' -z ' plane.
  • Ax the computed incremental movement of the ⁇ cope along the x' axis of the second coordinate ⁇ y ⁇ tem.
  • Ay • the computed incremental movement of the ⁇ cope along the y' axi ⁇ of the second coordinate sy ⁇ tem.
  • the angle ⁇ a5 and a6 are provided by the fir ⁇ t 54 and second 55 joint position sen ⁇ ors located on the end effector 32.
  • the angles a5 and a6 are ⁇ hown in Figure 7.
  • Ax the computed incremental movement of the scope along the x' axis of the second coordinate system.
  • ⁇ is the angle between the first linkage arm and the x axis of the first coordinate system.
  • Ax the computed incremental movement of the scope along the x axis of the fir ⁇ t coordinate sy ⁇ tem.
  • Ay the computed incremental movement of the scope along the y axis of the first coordinate ⁇ y ⁇ tem.
  • Az the computed incremental movement of the scope along the z axis of the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • the incremental movements Ax and Ay are inserted into the algorithms (1) described above for computing the angular movements ( ⁇ a2, ⁇ a3 and ⁇ a4) of the robotic arm a ⁇ sembly to determine the amount of rotation that i ⁇ to be provided by each electric motor.
  • d the length of the endoscope between the end effector and the cannula pivot point.
  • the new ⁇ value is computed and stored in the memory of the computer for further computation.
  • Figure 8 shows a flowchart of a program used to operate the ⁇ y ⁇ tem.
  • the computer 20 initially compute ⁇ the location of the end effector 32 with the input provided by the ⁇ en ⁇ or ⁇ 46-55.
  • the pedal provide ⁇ a input ⁇ ignal to the computer.
  • the ⁇ urgeon may want a clo ⁇ er look at an object in front of the endoscope.
  • the surgeon then pres ⁇ e ⁇ the top of the fir ⁇ t foot ⁇ witch, depre ⁇ ing the first transducer and providing an input ⁇ ignal to the computer.
  • the input ⁇ ignal i ⁇ converted into an 12 bit binary ⁇ tring which i ⁇ received by the proce ⁇ or.
  • the computer i ⁇ con ⁇ tantly ⁇ ampling the foot pedal, wherein each sample correspond ⁇ to a predetermined increment in the corre ⁇ ponding axi ⁇ ". If the surgeon holds down the foot pedal during two sampling period ⁇ then the increment to be moved i ⁇ 2x ⁇ z " .
  • the converter al ⁇ o provide ⁇ a multiplication factor for each increa ⁇ e in voltage level received from the amplifier of the tran ⁇ ducer, ⁇ o that the increment ⁇ are increased for each increase in voltage.
  • the surgeon can increase the amount of incremental movement by increasing the pre ⁇ ure on the foot ⁇ witch.
  • the proce ⁇ or 78 determine ⁇ the new coordinate ⁇ in the third coordinate ⁇ y ⁇ tem.
  • the incremental movements in the third coordinate sy ⁇ tem ( Ax" , ⁇ y" and ⁇ z " ) are used to compute the increment movements in the second coordinate sy ⁇ tem ( Ax ' , Ay ' and ⁇ z ' ) and the coordinates in the first coordinate sy ⁇ tem ( Ax, ⁇ y and ⁇ z ) .
  • the incremental movements are then used to determine the change in the angles a2, a3 and a4, and the linear movement of actuator 24.
  • the computer provides output signals to the appropriate electric motors to move the robotic arm assembly to the new position.
  • the pre ⁇ ent invention thu ⁇ allows the surgeon to remotely move a ⁇ urgical in ⁇ trument in a manner that directly correlate ⁇ with the viewing image ⁇ een through the endo ⁇ cope.
  • the system moves the end effector 32 so that the endoscope is always aligned in the same orientation relative to the patient.
  • Thi ⁇ i ⁇ accompli ⁇ hed by moving the end effector ⁇ o that the angle a6 i ⁇ always equal to zero.
  • the angle a6 is sen ⁇ ed by the ⁇ en ⁇ or 55. If the angle a ⁇ i ⁇ not equal to zero, the proce ⁇ or move ⁇ the end effector in accordance with the following ⁇ ubroutine.
  • ⁇ the incremental angular movement of the end effector.
  • ⁇ the preceding angle Tl.
  • constant some predetermined incremental angular movement of the end effector.
  • the proce ⁇ sor moves the end effector in accordance with the above described ⁇ ubroutine until the angle a6 i ⁇ equal to zero. The new ⁇ angle is then ⁇ tored and u ⁇ ed for further computation.
  • each linkage arm 28, 36 or 80 is preferably coupled to a first helical gear 92.
  • the first helical gear 92 is mated with a ⁇ econd helical gear 94 that i ⁇ coupled to an actuator 30, 34 or 38 by a clutch 96.
  • the clutche ⁇ 96 are preferably constructed from magnetic plates that are coupled together when power is supplied to the clutches. When power i ⁇ terminated, the clutche ⁇ 96 are di ⁇ engaged and the actuator ⁇ are decoupled from the drive ⁇ haft ⁇ ⁇ uch that the linkage arms can be manually moved by the operator. Power is ⁇ upplied to the clutche ⁇ 96 through a ⁇ witch 98 which can be operated by the surgeon.
  • the clutches allow the ⁇ urgeon to disengage the actuators and manually move the po ⁇ ition of the endoscope.
  • the system may have a lever actuated input device 100 that i ⁇ commonly referred to a ⁇ a "joy ⁇ tick".
  • the input device 100 can be used in the same manner as the foot pedal, wherein the operator can move the endoscope by moving the lever 102 of the device 100.
  • the device 100 may also have a plurality of memory button ⁇ 104 that can be manipulated by the operator.
  • the memory button ⁇ 104 are coupled to the processor 1 9
  • the memory buttons 104 include save buttons 106 and recall buttons 108.
  • save button 106 i ⁇ depres ⁇ ed
  • the coordinate ⁇ of the end effector in the fir ⁇ t coordinate system are saved in a dedicated addre ⁇ (e ⁇ ) of the computer memory.
  • recall button 108 is pu ⁇ hed
  • the proce ⁇ sor retrieves the data ⁇ tored in memory and moves the end effector to the coordinate ⁇ of the effector when the ⁇ ave button wa ⁇ pu ⁇ hed.
  • the save memory buttons allow the operator to store the coordinate ⁇ of the end effector in a fir ⁇ t po ⁇ ition, move the end effector to a ⁇ econd position and then return to the fir ⁇ t po ⁇ ition with the pu ⁇ h of a button.
  • the surgeon may take a wide eye view of the patient from a predetermined location and ⁇ tore the coordinate ⁇ of that location in memory. Sub ⁇ equently, the ⁇ urgeon may manipulate the endoscope to enter cavities, etc. which provide a more narrow view. The surgeon can rapidly move back to the wide eye view by merely depres ⁇ ing the recall button of the ⁇ y ⁇ tem. Additionally, the la ⁇ t po ⁇ ition of the endo ⁇ cope before the depre ⁇ ion of the recall button can be ⁇ tored ⁇ o that the ⁇ urgeon can again return to thi ⁇ position.
  • the ⁇ ystem is preferably moved during the recall cycle in a ramping fashion ⁇ o that there i ⁇ not any sudden movement of the linkage arm a ⁇ sembly.
  • ⁇ 0 the initial po ⁇ ition of the end effector.
  • ⁇ i the final po ⁇ ition of the end effector
  • ⁇ 0 the velocity of the end effector at po ⁇ ition ⁇ 0 .
  • ⁇ , the velocity of the end effector at po ⁇ ition ⁇ i
  • the linkage arm a ⁇ embly movement will gradually increa ⁇ e and then gradually decrease as the arm leave ⁇ and approache ⁇ the original and final positions, respectively.
  • Moving the arm in accordance with the above de ⁇ cribed equation produce ⁇ low initial and final arm acceleration value ⁇ .
  • the gradually increa ⁇ ing and decrea ⁇ ing movement of the arm prevent ⁇ any abrupt or sudden movement of the arm as ⁇ embly.
  • the robotic arm assembly is preferably encapsulated by a bag 110.
  • the bag 110 isolate ⁇ the arm a ⁇ embly 26 ⁇ o that the arm doe ⁇ not contaminate the ⁇ terile field of the operating room.
  • the bag 110 can be con ⁇ tructed from any material ⁇ uitable to maintain the ⁇ terility of the room.
  • the bag 110 may have fa ⁇ tening mean ⁇ ⁇ uch a ⁇ a hook and loop material or a zipper which allow ⁇ the bag to be periodically removed and replaced after each operating procedure.
  • Figure 12 ⁇ how ⁇ an alternate embodiment of an end effector 120.
  • the end effector 120 ha ⁇ a magnet 122 which holds a metal collar 124 that is coupled to the endo ⁇ cope 18.
  • the collar 124 has a center aperture 126 which receive ⁇ the endo ⁇ cope 18 and a pair of arm ⁇ 128 which together with screw 130 capture the scope 18.
  • the collar 124 is constructed to fit within a channel 132 located in the end effector 120.
  • the magnet 122 i ⁇ typically ⁇ trong enough to hold the endoscope during movement of the linkage arm, yet weak enough to allow the operator to pull the collar and scope away from the end effector.
  • Figure 13 ⁇ how ⁇ a preferred embodiment of an end effector 140 that couple ⁇ the ⁇ urgical in ⁇ trument 142 to a robotic ⁇ ystem 144.
  • the end effector 140 has a collar holder 146 which can capture a collar 148 that i ⁇ attached to the in ⁇ trument 142.
  • the collar 148 ha ⁇ a lip 150 which i ⁇ ⁇ upported by the ba ⁇ e of the collar holder 146 when the in ⁇ trument 142 i ⁇ coupled to the robotic a ⁇ embly 144.
  • the collar 148 ha ⁇ a bearing 152 that i ⁇ fa ⁇ tened to the in ⁇ trument 142 and which ha ⁇ gear teeth 153 that me ⁇ h with a worm gear 154 incorporated into the end effector 140.
  • the worm gear 154 i ⁇ typically connected to an electric motor (not ⁇ hown) which can rotate the gear 154 and ⁇ pin the in ⁇ trument 142 about its longitudinal axis.
  • the end effector 140 is preferably utilized in a robotic sy ⁇ tem ⁇ chematically shown in Figure 14.
  • the worm gear replaces the fir ⁇ t actuator 30 of the robotic ⁇ y ⁇ tem ⁇ hown in Fig. 1.
  • the pa ⁇ sive joints 156 and 158 allow the same degrees of freedom provided by the pas ⁇ ive joint ⁇ depicted in Fig. 3.
  • the joint ⁇ 156 and 158 are ⁇ hown ⁇ eparately for purpo ⁇ es of clarity, it being understood that the joints may be physically located within the end effector 140.
  • the ⁇ urgical in ⁇ trument i ⁇ typically coupled to a camera (not ⁇ hown) and a viewing screen (not ⁇ hown) ⁇ uch that any ⁇ pinning of the in ⁇ trument about it ⁇ own longitudinal axi ⁇ will re ⁇ ult in a corre ⁇ ponding rotation of the image on the viewing ⁇ creen. Rotation of the instrument and viewing image may disorient the viewer. It is therefore de ⁇ irable to maintain the orientation of the viewing image.
  • the robotic as ⁇ embly moves the in ⁇ trument in accordance with a ⁇ et of algorithm ⁇ that maintain the angle a6 at a value of zero.
  • Thi ⁇ i ⁇ acco pli ⁇ hed by computing a new angle a6 after each movement and then moving the in ⁇ trument ⁇ o that a ⁇ i ⁇ equal to zero.
  • moving the in ⁇ trument to zero a ⁇ may require energizing ⁇ ome or all of the actuator ⁇ , thu ⁇ nece ⁇ sitating the computation of the angles a2, a3 and a4.
  • the worm gear 154 of the end effector 140 the proper orientation of the viewing image can be maintained by merely rotating the worm gear 154 and scope 142 a calculated angle about the longitudinal axis of the instrument 142.
  • the endoscope 142 i ⁇ oriented within a fixed fourth coordinate ⁇ y ⁇ tem that has a z axis that is parallel with the z axis of the first coordinate system shown in Fig. 1.
  • the origin of the fourth coordinate system is the intersection of the instrument and the end effector.
  • the instrument i ⁇ initially in a fir ⁇ t position and moved to a second po ⁇ ition.
  • the endo ⁇ cope 142 it ⁇ elf define ⁇ the third coordinate ⁇ y ⁇ tem, wherein the z" axi ⁇ coincide ⁇ with the longitudinal axis of the instrument 142.
  • the worm ygear 154 rotates the instrument 142 about its longitudinal axis an amount ⁇ 6 to insure that the y" axis i ⁇ oriented in the mo ⁇ t vertical direction within the fixed coordinate ⁇ ystem.
  • ⁇ 6 is computed from the following cross- products.
  • ⁇ 6 the angle that the instrument is to be rotated about the z" axis.
  • yo" is the vector orientation of the y" axi ⁇ when the in ⁇ trument i ⁇ in the fir ⁇ t po ⁇ ition.
  • yi" is the vector orientation of the y" axis when the instrument i ⁇ in the ⁇ econd po ⁇ ition.
  • zi" i ⁇ the vector orientation of the z" axi ⁇ when the in ⁇ trument i ⁇ in the ⁇ econd po ⁇ ition.
  • the vector ⁇ of the yi" and zi" axi ⁇ are computed with the following algorithms.
  • 05 is the angle between the instrument and the z axis in the x-z plane.
  • z is the unit vector of the z axis in the fir ⁇ t coordinate system.
  • the angles 04 and 05 are provided by the joint position sensors coupled to the joints 156 and 158.
  • the vector yo" is computed using the angles 04 and 05 of the in ⁇ trument in the original or first position.
  • the angles 04 and 05 of the second position are u ⁇ ed in the tran ⁇ formation matrix.
  • yo" i ⁇ ⁇ et to yi" and a new yi" vector and corresponding ⁇ 6 angle are computed and used to re-orient the endoscope.
  • the worm gear continuously rotates the instrument about it ⁇ longitudinal axi ⁇ to insure that the pivotal movement of the endoscope does not cause a corresponding rotation of the viewing image.
  • the pivot point location can al ⁇ o be u ⁇ ed to in ⁇ ure that the ba ⁇ e of the in ⁇ trument i ⁇ not pu ⁇ hed into the patient, and to prevent the in ⁇ trument from being pulled out of the patient.
  • the pivot point of the in ⁇ trument i ⁇ calculated by initially determining the original po ⁇ ition of the inter ⁇ ection of the end effector and the in ⁇ trument PO, and the unit vector Uo which ha ⁇ the same orientation a ⁇ the in ⁇ trument.
  • the po ⁇ ition P(x, y, z) values can be derived from the various position sen ⁇ or ⁇ of the robotic assembly described above.
  • the unit vector Uo is computed by the transformation matrix:
  • T a vector which is a cro ⁇ s-product of unit vectors Uo and
  • the unit vector of the new instrument po ⁇ ition Ul i ⁇ again determined u ⁇ ing the positions sen ⁇ or ⁇ and the tran ⁇ formation matrix de ⁇ cribed above. If the angle A ⁇ i ⁇ greater than a thre ⁇ hold value, then a new pivot point i ⁇ calculated and Uo i ⁇ set to Ul.
  • the first and second instrument orientations can be defined by the line equation ⁇ Lo and LI:
  • Zo a Z coordinate along the line Lo relative to the z axi ⁇ of the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • Zl a Z coordinate along the line LI relative to the z axi ⁇ of the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • Mxo a ⁇ lope of the line Lo as a function of Zo.
  • Myo a slope of the line Lo a ⁇ a function of Zo.
  • Mxl a ⁇ lope of the line LI a ⁇ a function of Zl .
  • Myl a ⁇ lope of the line LI a ⁇ a function of Zl .
  • Cxi a constant which represents the intersection of the LI and the x axis of the first coordinate system.
  • the ⁇ lope ⁇ are computed u ⁇ ing the following algorithm ⁇ :
  • Uo(x, y and z) the unit vector ⁇ of the in ⁇ trument in the first po ⁇ ition within the fir ⁇ t coordinate system.
  • Po(x, y and z) the coordinates of the intersection of the end effector and the instrument in the first po ⁇ ition within the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • Pl(x, y and z) the coordinate ⁇ of the inter ⁇ ection of the end effector and the in ⁇ trument in the ⁇ econd po ⁇ ition within the fir ⁇ t coordinate ⁇ y ⁇ tem.
  • the pivot point ⁇ of the in ⁇ trument in the fir ⁇ t orientation Lo (pivot point Ro) and in the ⁇ econd orientation LI (pivot point RI) are determined, and the di ⁇ tance half way between the two points Ro and RI i ⁇ computed and ⁇ tored a ⁇ the pivot point Rave °f the in ⁇ trument.
  • tx the slope of a line defined by vector T relative to the Z-x plane of the first coordinate sy ⁇ tem.
  • ty the slope of a line defined by vector T relative to the Z-y plane of the first coordinate sy ⁇ tem.
  • Tx the x component of the vector T.
  • Ty the y component of the vector T.
  • Tz the z component of the vector T.
  • the average distance between the pivot points Ro and RI is computed with the following equation and stored as the pivot point of the in ⁇ trument.
  • the pivot point can be continually updated with the above de ⁇ cribed algorithm routine. Any movement of the pivot point can be compared to a thre ⁇ hold value and a warning ⁇ ignal can be is ⁇ ued or the robotic ⁇ ystem can become di ⁇ engaged if the pivot point move ⁇ beyond a ⁇ et limit.
  • the compari ⁇ on with a ⁇ et limit may be u ⁇ eful in determining whether the patient is being moved, or the instrument i ⁇ being manipulated out ⁇ ide of the patient, ⁇ ituation ⁇ which may re ⁇ ult in injury to the patient or the occupant ⁇ of the operating room.

Abstract

A robotic system (10) that moves a surgical instrument (18) in response to the actuation of a foot pedal (22) that can be operated by the foot of a surgeon. The robotic system (10) has an end effector that is adapted to hold a surgical instrument (18) such as an endoscope (18). The end effector (32) is coupled to a robotic arm assembly (26) which can move the endoscope (18) relative to the patient (12). The robotic system (10) includes a computer (20) which controls the movement of the robotic arm (26) in response to input signals received from the foot pedal.

Description

AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING
BACKGROUND OP THE INVENTION
1 . FIELD OF THE INVENTION
The present invention relates to a robotic system for remotely controlling the position of a surgical instrument.
2. DESCRIPTION OF RELATED ART
Endoscopes typically contain a lens that is coupled to a visual display by a fiber optic cable. Such a system allows the user to remotely view an image in front of the scope. Endoscopes are commonly used in a surgical procedure known as laparoscopy, which involves inserting the endoscope into the patient through a small incision in the abdomen. The endoscope allows the surgeon to internally view the patient without being in a direct line of sight with the object. The use of an endoscope typically reduces the size of the incision needed to perform a surgical procedure.
Endoscopes are commonly used to assist the surgeon in removing the gall bladder of a patient. Because the surgeon typically requires both hands to remove a gall bladder, the endoscope must be held and operated by a assistant. During the surgical procedure, the surgeon must frequently instruct the assistant to move the endoscope within the patient. Such a method can be time consuming as the surgeon may have to relay a series of instructions until the assistant has positioned the endoscope in the proper location. Additionally, the assistant may be unable to consistently hold the instrument in a fixed position, resulting in a moving image. This is particularly true for surgical procedures that extend over a long period of time.
There is presently a system marketed by Leonard Medical Inc. which mechanically holds an endoscope. The Leonard Medical system is an articulated mechanism which has a plurality of pneumatically powered joints that hold the endoscope in a fixed position. To move the endoscope, the pneumatic powered joints must be initially released into a relaxed condition. The surgeon or assistant then moves the scope and reactivates the pneumatic system. Although the Leonard system holds the endoscope in one position, the system requires the surgeon or assistant to constantly deactivate/activate the pneumatics and manually move the scope. Such a system interrupts the surgery process and increases the time of the surgical procedure. It would be desirable to provide a system that allows the surgeon to directly and efficiently control the movement of an endoscope. SUMMARY OF THE INVENTION
The present invention is a robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals from the foot pedal.
The computer computes the amount of incremental movement required to move the end effector in accordance with a set of algorithms. The algorithms transform the input of the foot pedal so that the movement of the endoscope as seen by the surgeon is always in the same direction as the movement of the foot pedal. Thus when the foot pedal is depressed to move the endoscope up or down, the end effector is manipulated so that the scope always moves relative to the image in an up or down direction as viewed by the surgeon. The robotic system is also moved in accordance with an algorithm that insures a consistent orientation of the image viewed by the surgeon.
Therefore it is an object of the present invention to provide a system which allows a surgeon to remotely control the position of a surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS
The objects and advantages of the present invention will become more readily apparent to those ordinarily skilled in the art after reviewing the following detailed description and accompanying drawings, wherein:
Figure 1 is a side view of a robotic system of the present invention;
Figure 2 is a top view of the robotic system of Fig. 1;
Figure 3 is a top view of an end effector used to hold an endoscope;
Figure 4 is a top view of a foot pedal of the system of Fig. 1;
Figure 5 is a cross-sectional view of the foot pedal of Fig. 4;
Figure 6 is a schematic of a computer of the robotic system shown in Fig. 1;
Figure 7 is a schematic of the endoscope oriented in a second coordinate system;
Figure 8 is a flowchart showing the operation of the system;
Figure 9 is a graph showing the incremental movement of the robotic arm assembly;
Figure 10 iε a cross-sectional view of the robotic arm assembly showing actuators coupled to clutch and drive train assemblies;
Figure 11 is a side view of the system showing a protective sterile bag which encapsulates the robotic arm assembly; Figure 12 is a cross-sectional view of an alternate embodiment of the end effector;
Figure 13 is a perspective view of an alternate embodiment of an end effector which has a worm gear that is operatively coupled to the surgical instrument;
Figure 14 is a perspective view of an alternate embodiment of a robotic system which incorporates the worm gear joint of Fig. 13;
Figure 15 is a schematic of a surgical instrument that defines a third coordinate system located within a fourth fixed coordinate system;
Figure 16 is a schematic of the surgical instrument being moved relative to a pivot point.
DETAILED DESCRIPTION OF THE INVENTION
Referring to the drawings more particularly by reference numbers, Figures 1 and 2 show a robotic system 10 of the present invention. The system 10 is typically used in a sterile operating room where a surgeon (not shown) performs a surgical procedure on a patient 12. The patient 12 is placed on a operating table 14. Attached to the table 14 is a robotic arm assembly 16 which can move a surgical instrument 18 relative to the table 14 and the patient 12. The surgical instrument 18 is typically an endoscope which is inserted into the abdomen of the patient 12. The endoscope 18 enters the patient through cannula, wherein the scope 18 rotate about a cannula pivot point. The endoscope is typically connected to a display screen (not shown) which allows the surgeon to view the organs, etc. of the patient. Although an endoscope is described and shown, it iε to be understood that the present invention can be used with other εurgical inεtrumentε.
The εystem 10 has a computer 20 that iε connected to the robotic arm aεsembly 16 and a foot pedal 22. The foot pedal 22 iε located in close proximity to the operating table 14, εo that the εurgeon can operate the foot pedal 22 while performing a εurgical procedure. The εyεtem 10 iε conεtructed εo that the surgeon can move the εurgical inεtrument 18 by merely depreεsing the foot pedal 22.
The robotic arm asεembly 16 includeε a linear actuator 24 fixed to the table 14. The linear actuator 24 iε connected to a linkage arm aεsembly 26 and adapted to move the linkage assembly 26 along the z axis of a first coordinate system. As shown in Fig. 2, the first coordinate system also has an x axis and a y axis. The linear actuator 24 preferably has an electric motor which turnε a ball εcrew that moveε the output εhaft of the actuator.
The linkage arm aεεembly 26 includeε a firεt linkage arm 28 attached to a firεt rotary actuator 30 and an end effector 32. The firεt rotary actuator 30 iε adapted to rotate the firεt linkage arm 28 and end effector 32 in a plane perpendicular to the z axiε (x-y plane) . The firεt rotary actuator 30 iε connected to a εecond rotary actuator 34 by a εecond linkage arm 36. The εecond actuator 34 iε adapted to rotate the first actuator 30 in the x-y plane. The second rotary actuator 34 is connected to a third rotary actuator 38 by a third linkage arm 40. The third rotary actuator 38 is connected to the output εhaft of the linear actuator 24 and adapted to rotate the εecond rotary actuator 34 in the x-y plane. The rotary actuatorε are preferably electric motorε with output εhaftε attached to the reεpective linkage armε. The actuators 30, 34 and 38 preferably have gear reduction boxes to increase the torque at the linkage arms relative to the electric motors. The electric motorε of the actuatorε 24, 30, 34 and 38 rotate in reεponse to output signalε provided by the computer 20.
Aε εhown in Figure 3, the end effector 32 haε a clamp 42 which can grasp and hold the endoscope 18. The clamp 42 may be constructed aε a wire with a loop that haε a diameter εmaller than the outεide diameter of the εcope 18. The clamp 42 allows the εcope to be easily attached to and removed from the robotic arm asεembly 16. Although a εimple wire clamp iε shown and described, it is to be understood that the end effector 32 may have any means required to secure the surgical instrument 18. As shown in Figs. 1 and 2, the junction of the endoscope 18 and the end effector 32 define a second coordinate system which has an x' axis, a y' axiε and a z' axiε. The junction of the end effector 32 and endoscope 18 also define the origin of a third coordinate syεtem which has a x" axis, a y" axis and a z" axiε that is parallel with the longitudinal axis of the endoscope 18.
The end effector 32 has a shaft 44 which can be coupled to the first linkage arm 28. The first linkage arm 28 may have a bearing which allows the end effector 32 to rotate about the longitudinal axis of the arm 28. The end effector 32 may be conεtructed so that the clamp 42 and scope 18 can rotate about the y' axis. The end effector 32 is preferably constructed to be detached from the first linkage arm 28, so that a sterile instrument can be used for each surgical procedure. The robotic system 10 may also have a bag or cover to encapsulate the robotic arm asεembly 16 to keep the aεεembly 16 sterile.
The actuators 24, 30, 34 and 38 may each have position senεorε 46-52 that are connected to the computer 20. The sensorε may be potentiometerε that can εenεe the rotational movement of the electric motorε and provide feedback εignals to the computer 20. The end effector 32 may alεo have a first joint position senεor 54 that senses the angular displacement of the effector about the x' axis and a εecond joint poεition εensor 55 which senεeε the angular displace of the scope about the y' axis. Figureε 4 and 5 εhow a preferred embodiment of the foot pedal 22. The foot pedal 22 has a housing 56 that supportε a firεt foot εwitch 58 and a εecond foot εwitch 60. The firεt foot εwitch 58 haε a first presεure tranεducer 62 and a εecond preεεure tranεducer 64. The εecond foot switch 60 has third 66, fourth 68, fifth 70 and sixth 72 presεure tranεducerε. The tranεducerε are each connected to a correεponding operational amplifier that provideε a voltage input to the computer 20. The preεεure tranεducerε 62-72 are constructed so that the resiεtance of each transducer decreaεeε aε the εurgeon increaεeε the preεεure on the foot switches. Such a transducer is sold by Interlink Electronics. The decreaεing transducer resiεtance increases the input voltage provided to the computer 20 from the operational amplifier. Each transducer correspondε to a predetermined direction in the third coordinate system. In the preferred embodiment, the first presεure tranεducer 62 correεpondε to moving the endoεcope toward the image viewed by the εurgeon. The εecond tranεducer 64 moves the scope away from the image. The third 66 and fourth 68 tranεducerε move the scope 18 "up" and "down", respectively, and the fifth 70 and εixth 72 tranεducerε move the εcope 18 "left" and "right", reεpectively.
Figure 6 εhowε a εchematic of the computer 20. The computer 20 has a multiplexer 74 which is connected to the preεsure transducerε and the poεition senεors . In the preferred embodiment, the multiplexer 74 has 12 channelε, one channel for each sensor and transducer. The multiplexer 74 is connected to a εingle analog to digital (A/D) converter 76. The computer also has a procesεor 78 and memory 80. The A/D converter 76 iε conεtructed εo that the converter can provide the proceεεor 78 with a binary εtring for each voltage level received from the input εignalε of the εyεtem. By way of example, the tranεducerε may provide a voltage ranging between -10 to 10 voltε (V) and the converter 76 may output a different 12 bit binary εtring for each voltage level. An input εignal of 1.0 V may correεpond to the binary εtring 000011001010, 2.0 V may correεpond to 000111010100 and so forth and so on.
The procesεor 78 iε connected to an addreεε decoder 82 and four εeparate digital to analog (D/A) converterε 84. Each D/A converter iε connected to an actuator 26, 30, 34 or 38. The D/A converterε 84 provide analog output εignals to the actuators in reεponεe to output signals received from the procesεor 78. The analog output εignalε preferably have a εufficient voltage level to energize the electric motors and move the robotic arm asεembly. The D/A converters 84 may be constructed so that a binary 1 from the procesεor produceε an analog output εignal that driveε the motorε. In εuch an embodiment, the motorε are energized for aε long aε the proceεεor provideε a binary 1 output εignal. The decoder 82 correlateε the addreεεeε provided by the proceεsor with a corresponding D/A converter, εo that the correct motor(ε) iε driven. The addreεε decoder 82 alεo provides an addreεε for the input data from the A/D converter εo that the data iε aεεociated with the correct input channel.
The proceεεor 78 co puteε the movement of the robotic arm aεsembly 16 in accordance with the following equationε. λ
Figure imgf000013_0001
(x- L3cos(π)f +(y- L3sm(π))2+LI2-L22
A = cos' 2Llτj(x- L3cos{π)f + (y - L3sm(π)f
Figure imgf000013_0002
a2 = aO + / - A α4= π- a2 - a3 where; a2 = angle between the third linkage arm and the x axis. a3 = angle between the second linkage arm and the longitudinal axis of the third linkage arm. a4 = angle between the first linkage arm and the longitudinal axis of the second linkage arm.
LI = length of the third linkage arm. L2 = length of the second linkage arm. L3 = length of the firεt linkage arm. π = the angle between the first linkage arm and the x' axis of the second coordinate syεtem.
X = x coordinate of the end effector in the firεt coordinate εyεtem. y = y coordinate of the end effector in the firεt coordinate system.
To move the end effector to a new location of the x-y plane the procesεor 78 computeε the change in angles a2 , a3 and a4, and then provides output signalε to move the actuators accordingly. The original angular poεition of the end effector is provided to the processor 78 by the senεorε 46-55. The processor moves the linkage arms an angle that corresponds to the difference between the new location and the original location of the end effector. A differential angle Δa2 corresponds to the amount of angular displacement provided by the third actuator 38, a differential angle Δa3 correspondε to the amount of angular diεplacement provided by the second actuator 34 and a differential angle Δa4 corresponds to the amount of angular displacement provided by the first actuator 30.
To improve the effectiveness of the syεtem 10, the system is conεtructed so that the movement of the surgical instrument aε εeen by the εurgeon, is always in the same direction as the movement of the foot pedal. Thus when the surgeon presseε the foot εwitch to move the εcope up, the scope always appears to move in the up direction. To accomplish this result, the procesεor 78 convertε the desired movement of the end of the endoεcope in the third coordinate εyεtem to coordinates in the second coordinate syεtem, and then converts the coordinates of the second coordinate syεtem into the coordinateε of the firεt coordinate εyεtem.
The deεired movement of the endoscope is converted from the third coordinate syεtem to the εecond coordinate εystem by uεing the following tranεformation matrix;
(Ax'λ f cos(α6) 0 -sin(α6)
(2) Ay' -sin(α5)sin(α6) cos(α5) -sin( 5)cos(α6) Az' j cos(α5)sin(α6) sin(α5) cos(α5)cos(α6)
Figure imgf000014_0001
where;
Ax " the deεired incremental movement of the εcope along the x" axis of the third coordinate system.
Ay " = the desired incremental movement of the scope along the y" axis of the third coordinate system.
Az " = the desired incremental movement of the scope along the z" axis of the third coordinate syεtem. a5 = the angle between the z' axiε and the εcope in the y'-z' plane. a6 = the angle between the z ' axiε and the εcope in the x' -z ' plane.
Ax the computed incremental movement of the εcope along the x' axis of the second coordinate εyεtem.
Ay • = the computed incremental movement of the εcope along the y' axiε of the second coordinate syεtem.
Az the computed incremental movement of the εcope along the z' axiε of the second coordinate syεtem.
The angleε a5 and a6 are provided by the firεt 54 and second 55 joint position senεors located on the end effector 32. The angles a5 and a6 are εhown in Figure 7.
The deεired movement of the endoεcope iε converted from the εecond coordinate εyεtem to the first coordinate system by using the following transformation matrix;
Figure imgf000016_0001
where;
Ax the computed incremental movement of the scope along the x' axis of the second coordinate system.
Ay the computed incremental movement of the scope along the y' axis of the εecond coordinate εystem.
Az the computed incremental movement of the εcope along the z' axiε of the second coordinate system. π = is the angle between the first linkage arm and the x axis of the first coordinate system.
Ax = the computed incremental movement of the scope along the x axis of the firεt coordinate syεtem.
Ay = the computed incremental movement of the scope along the y axis of the first coordinate εyεtem.
Az = the computed incremental movement of the scope along the z axis of the firεt coordinate εyεtem.
The incremental movements Ax and Ay are inserted into the algorithms (1) described above for computing the angular movements (Δa2, Δa3 and Δa4) of the robotic arm aεsembly to determine the amount of rotation that iε to be provided by each electric motor. The value Az iε uεed to determine the amount of linear movement provided by the linear actuator 26.
After each movement of the endoεcope a new π value must be computed to be used in the next incremental movement of the scope. The scope is typically always in the y' - z' plane, therefore the π value only changes when the end effector is moved along the y' axiε. The new π angle can be computed with the following equations:
m d = tan(α6)
r= dsin(α5)
( 4 :
Figure imgf000017_0001
where; d = the length of the endoscope between the end effector and the cannula pivot point. r = the distance along the y' axis between the end effector and the cannula pivot point, m = the incremental movement of the scope.
The new π value is computed and stored in the memory of the computer for further computation.
Figure 8 shows a flowchart of a program used to operate the εyεtem. The computer 20 initially computeε the location of the end effector 32 with the input provided by the εenεorε 46-55. When the εurgeon presses on one of the foot switcheε, the pedal provideε a input εignal to the computer. For example, the εurgeon may want a cloεer look at an object in front of the endoscope. The surgeon then presεeε the top of the firεt foot εwitch, depreεεing the first transducer and providing an input εignal to the computer. The input εignal iε converted into an 12 bit binary εtring which iε received by the proceεεor. The 12 bit εtring correεpondε to a predetermined increment of Δz " . The computer iε conεtantly εampling the foot pedal, wherein each sample correspondε to a predetermined increment in the correεponding axiε". If the surgeon holds down the foot pedal during two sampling periodε then the increment to be moved iε 2xΔz " . The converter alεo provideε a multiplication factor for each increaεe in voltage level received from the amplifier of the tranεducer, εo that the incrementε are increased for each increase in voltage. Thus the surgeon can increase the amount of incremental movement by increasing the preεεure on the foot εwitch.
The proceεεor 78 then determineε the new coordinateε in the third coordinate εyεtem. The incremental movements in the third coordinate syεtem ( Ax" , Δy" and Δz " ) are used to compute the increment movements in the second coordinate syεtem ( Ax ' , Ay ' and Δz ' ) and the coordinates in the first coordinate syεtem ( Ax, Δy and Δz ) . The incremental movements are then used to determine the change in the angles a2, a3 and a4, and the linear movement of actuator 24. The computer provides output signals to the appropriate electric motors to move the robotic arm assembly to the new position. The new " angle iε computed and the proceεε iε repeated. The preεent invention thuε allows the surgeon to remotely move a εurgical inεtrument in a manner that directly correlateε with the viewing image εeen through the endoεcope.
In the preferred embodiment, the system moves the end effector 32 so that the endoscope is always aligned in the same orientation relative to the patient. Thiε iε accompliεhed by moving the end effector εo that the angle a6 iε always equal to zero. Thus after each independent movement of the endoscope, the angle a6 is senεed by the εenεor 55. If the angle aδ iε not equal to zero, the proceεεor moveε the end effector in accordance with the following εubroutine.
If aδ > zero then the end effector iε moved an increment equal to:
Δπ = π + conεtant
If a6 < zero then the end effector iε moved an increment equal to:
Δπ = π - conεtant
where;
Δπ = the incremental angular movement of the end effector.
π = the preceding angle Tl. constant = some predetermined incremental angular movement of the end effector.
The proceεsor moves the end effector in accordance with the above described εubroutine until the angle a6 iε equal to zero. The new π angle is then εtored and uεed for further computation.
Maintaining the angle aδ at zero inεureε that the view εeen by the εurgeon iε in the same orientation for all end effector poεitionε.
Aε shown in Figure 10, each linkage arm 28, 36 or 80 is preferably coupled to a first helical gear 92. The first helical gear 92 is mated with a εecond helical gear 94 that iε coupled to an actuator 30, 34 or 38 by a clutch 96. The clutcheε 96 are preferably constructed from magnetic plates that are coupled together when power is supplied to the clutches. When power iε terminated, the clutcheε 96 are diεengaged and the actuatorε are decoupled from the drive εhaftε εuch that the linkage arms can be manually moved by the operator. Power is εupplied to the clutcheε 96 through a εwitch 98 which can be operated by the surgeon. The clutches allow the εurgeon to disengage the actuators and manually move the poεition of the endoscope.
As shown in Fig. 6, the system may have a lever actuated input device 100 that iε commonly referred to aε a "joyεtick". The input device 100 can be used in the same manner as the foot pedal, wherein the operator can move the endoscope by moving the lever 102 of the device 100. The device 100 may also have a plurality of memory buttonε 104 that can be manipulated by the operator. The memory buttonε 104 are coupled to the processor 1 9
of the computer. The memory buttons 104 include save buttons 106 and recall buttons 108. When the save button 106 iε depresεed, the coordinateε of the end effector in the firεt coordinate system are saved in a dedicated addreεε (eε) of the computer memory. When a recall button 108 is puεhed, the proceεsor retrieves the data εtored in memory and moves the end effector to the coordinateε of the effector when the εave button waε puεhed.
The save memory buttons allow the operator to store the coordinateε of the end effector in a firεt poεition, move the end effector to a εecond position and then return to the firεt poεition with the puεh of a button. By way of example, the surgeon may take a wide eye view of the patient from a predetermined location and εtore the coordinateε of that location in memory. Subεequently, the εurgeon may manipulate the endoscope to enter cavities, etc. which provide a more narrow view. The surgeon can rapidly move back to the wide eye view by merely depresεing the recall button of the εyεtem. Additionally, the laεt poεition of the endoεcope before the depreεεion of the recall button can be εtored εo that the εurgeon can again return to thiε position.
Aε εhown in Figure 9, the εystem is preferably moved during the recall cycle in a ramping fashion εo that there iε not any sudden movement of the linkage arm aεsembly. Inεtead of a purely linear movement of the actuatorε to move the end effector from point A to point B, the procesεor would preferably move the linkage arm aεεembly in accordance with the following equation. 69(f) = (1 -
Figure imgf000022_0001
where ;
t = t ime
θ0 = the initial poεition of the end effector.
θi = the final poεition of the end effector,
θ0 = the velocity of the end effector at poεition θ0.
θ, = the velocity of the end effector at poεition θi
By moving each actuator in accordance with the above deεcribed algorithm, the linkage arm aεεembly movement will gradually increaεe and then gradually decrease as the arm leaveε and approacheε the original and final positions, respectively. Moving the arm in accordance with the above deεcribed equation produceε low initial and final arm acceleration valueε. The gradually increaεing and decreaεing movement of the arm preventε any abrupt or sudden movement of the arm asεembly.
Aε εhown in Figure 11, the robotic arm assembly is preferably encapsulated by a bag 110. The bag 110 isolateε the arm aεεembly 26 εo that the arm doeε not contaminate the εterile field of the operating room. The bag 110 can be conεtructed from any material εuitable to maintain the εterility of the room. The bag 110 may have faεtening meanε εuch aε a hook and loop material or a zipper which allowε the bag to be periodically removed and replaced after each operating procedure.
Figure 12 εhowε an alternate embodiment of an end effector 120. The end effector 120 haε a magnet 122 which holds a metal collar 124 that is coupled to the endoεcope 18. The collar 124 has a center aperture 126 which receiveε the endoεcope 18 and a pair of armε 128 which together with screw 130 capture the scope 18. The collar 124 is constructed to fit within a channel 132 located in the end effector 120. The magnet 122 iε typically εtrong enough to hold the endoscope during movement of the linkage arm, yet weak enough to allow the operator to pull the collar and scope away from the end effector.
Figure 13 εhowε a preferred embodiment of an end effector 140 that coupleε the εurgical inεtrument 142 to a robotic εystem 144. The end effector 140 has a collar holder 146 which can capture a collar 148 that iε attached to the inεtrument 142. The collar 148 haε a lip 150 which iε εupported by the baεe of the collar holder 146 when the inεtrument 142 iε coupled to the robotic aεεembly 144. The collar 148 haε a bearing 152 that iε faεtened to the inεtrument 142 and which haε gear teeth 153 that meεh with a worm gear 154 incorporated into the end effector 140. The worm gear 154 iε typically connected to an electric motor (not εhown) which can rotate the gear 154 and εpin the inεtrument 142 about its longitudinal axis.
The end effector 140 is preferably utilized in a robotic syεtem εchematically shown in Figure 14. The worm gear replaces the firεt actuator 30 of the robotic εyεtem εhown in Fig. 1. The paεsive joints 156 and 158 allow the same degrees of freedom provided by the pasεive jointε depicted in Fig. 3. The jointε 156 and 158 are εhown εeparately for purpoεes of clarity, it being understood that the joints may be physically located within the end effector 140.
The εurgical inεtrument iε typically coupled to a camera (not εhown) and a viewing screen (not εhown) εuch that any εpinning of the inεtrument about itε own longitudinal axiε will reεult in a correεponding rotation of the image on the viewing εcreen. Rotation of the instrument and viewing image may disorient the viewer. It is therefore deεirable to maintain the orientation of the viewing image.
In the embodiment shown in Fig. 1, the robotic asεembly moves the inεtrument in accordance with a εet of algorithmε that maintain the angle a6 at a value of zero. Thiε iε acco pliεhed by computing a new angle a6 after each movement and then moving the inεtrument εo that aδ iε equal to zero. Depending upon the location of the end effector, moving the inεtrument to zero aδ may require energizing εome or all of the actuatorε, thuε neceεsitating the computation of the angles a2, a3 and a4. Using the worm gear 154 of the end effector 140, the proper orientation of the viewing image can be maintained by merely rotating the worm gear 154 and scope 142 a calculated angle about the longitudinal axis of the instrument 142.
As shown in Figure 15, the endoscope 142 iε oriented within a fixed fourth coordinate εyεtem that has a z axis that is parallel with the z axis of the first coordinate system shown in Fig. 1. The origin of the fourth coordinate system is the intersection of the instrument and the end effector. For purpoεeε of providing reference points, the instrument iε initially in a firεt position and moved to a second poεition. The endoεcope 142 itεelf defineε the third coordinate εyεtem, wherein the z" axiε coincideε with the longitudinal axis of the instrument 142. To insure proper orientation of the endoεcope 142, the worm ygear 154 rotates the instrument 142 about its longitudinal axis an amount Δθ6 to insure that the y" axis iε oriented in the moεt vertical direction within the fixed coordinate εystem. ΔΘ6 is computed from the following cross- products.
ΔΘ6 = zi" x (yo" x yi")
where;
Δθ6 = the angle that the instrument is to be rotated about the z" axis. yo" = is the vector orientation of the y" axiε when the inεtrument iε in the firεt poεition. yi" = is the vector orientation of the y" axis when the instrument iε in the εecond poεition. zi" = iε the vector orientation of the z" axiε when the inεtrument iε in the εecond poεition.
The vectorε of the yi" and zi" axiε are computed with the following algorithms.
Figure imgf000026_0001
ΛΓΪ = z x zr
Figure imgf000026_0002
where;
04 = is the angle between the instrument and the z axis in the y-z plane.
05 = is the angle between the instrument and the z axis in the x-z plane. z = is the unit vector of the z axis in the firεt coordinate system.
The angles 04 and 05 are provided by the joint position sensors coupled to the joints 156 and 158. The vector yo" is computed using the angles 04 and 05 of the inεtrument in the original or first position. For the computation of yi" the angles 04 and 05 of the second position are uεed in the tranεformation matrix. After each arm movement yo" iε εet to yi" and a new yi" vector and corresponding Δθ6 angle are computed and used to re-orient the endoscope. Using the above deεcribed algorithms, the worm gear continuously rotates the instrument about itε longitudinal axiε to insure that the pivotal movement of the endoscope does not cause a corresponding rotation of the viewing image. When the εurgical inεtrument iε initially inεerted into the patient the exact location of the pivot point of the inεtrument iε unknown. It iε deεirable to compute the pivot point to determine the amount of robotic movement required to move the lenε portion of the εcope. Accurate movement of the end effector and the oppoεite lenε portion of the inεtrument can be provided by knowing the pivot point and the diεtance between the pivot point and the end effector. The pivot point location can alεo be uεed to inεure that the baεe of the inεtrument iε not puεhed into the patient, and to prevent the inεtrument from being pulled out of the patient.
The pivot point of the inεtrument iε calculated by initially determining the original poεition of the interεection of the end effector and the inεtrument PO, and the unit vector Uo which haε the same orientation aε the inεtrument. The poεition P(x, y, z) values can be derived from the various position senεorε of the robotic assembly described above. The unit vector Uo is computed by the transformation matrix:
Uo =
Figure imgf000027_0001
After each movement of the end effector an angular movement of the instrument Aθ is computed by taking the arcsin of the crosε-product of the firεt and εecond unit vectorε Uo and Ul of the inεtrument in accordance with the following line equationε Lo and LI . Aθ = arcsin( \T\ )
T = Uo x Ul where ;
T = a vector which is a croεs-product of unit vectors Uo and
Ul.
The unit vector of the new instrument poεition Ul iε again determined uεing the positions senεorε and the tranεformation matrix deεcribed above. If the angle Aθ iε greater than a threεhold value, then a new pivot point iε calculated and Uo iε set to Ul. As εhown in Figure 16, the first and second instrument orientations can be defined by the line equationε Lo and LI:
Lo: xo = Mχ0 • Zo + Cxo yo = MyO • Zo + Cyo
LI: xl = Mxl • ZI + Cxi yl = Myl • ZI + Cyl
where;
Zo = a Z coordinate along the line Lo relative to the z axiε of the firεt coordinate εyεtem. Zl = a Z coordinate along the line LI relative to the z axiε of the firεt coordinate εyεtem.
Mxo = a εlope of the line Lo as a function of Zo.
Myo = a slope of the line Lo aε a function of Zo.
Mxl = a εlope of the line LI aε a function of Zl .
Myl = a εlope of the line LI aε a function of Zl .
Cxo = a conεtant which repreεentε the interεection of the line
Lo and the x axiε of the firεt coordinate εyεtem.
Cyo = a conεtant which repreεents the intersection of the line
Lo and the y axis of the firεt coordinate εyεtem.
Cxi = a constant which represents the intersection of the LI and the x axis of the first coordinate system.
Cyl = a constant which repreεentε the interεection of the line
LI and the y axiε of the firεt coordinate εyεtem.
The εlopeε are computed uεing the following algorithmε:
Mxo = Uxo/Uzo Myo = Uyo/Uzo Mxl = Uxl/Uzl Myl = Uyl/Uzl
CxO = Pox - Mxl-Poz CyO = Poy - Myl • Poz
Cxi = Plx - Mxl-Plz Cyl = Ply - Myl-Plz where ;
Uo(x, y and z) = the unit vectorε of the inεtrument in the first poεition within the firεt coordinate system.
Ul(x, y and z) = the unit vectors of the instrument in the second position within the first coordinate system.
Po(x, y and z) = the coordinates of the intersection of the end effector and the instrument in the first poεition within the firεt coordinate εyεtem.
Pl(x, y and z) = the coordinateε of the interεection of the end effector and the inεtrument in the εecond poεition within the firεt coordinate εyεtem.
To find an approximate pivot point location, the pivot pointε of the inεtrument in the firεt orientation Lo (pivot point Ro) and in the εecond orientation LI (pivot point RI) are determined, and the diεtance half way between the two points Ro and RI iε computed and εtored aε the pivot point Rave °f the inεtrument. The pivot point Rave s determined by using the cross-product vector T.
To find the points Ro and RI the following equalitieε are set to define a line with the same orientation aε the vector T that paεεeε through both Lo and LI.
tx = Tx/Tz ty = Ty/Tz where ;
tx = the slope of a line defined by vector T relative to the Z-x plane of the first coordinate syεtem. ty = the slope of a line defined by vector T relative to the Z-y plane of the first coordinate syεtem.
Tx = the x component of the vector T.
Ty = the y component of the vector T.
Tz = the z component of the vector T.
Picking two points to determine the slopeε Tx, Ty and Tz (eg. Tx = xl-xo, Ty = yl-yo and Tz = zl-zO) and εubεtituting the line equationε Lo and LI, provides a solution for the point coordinates for Ro (xo, yo, zo) and RI (xl, yl, zl) aε follows.
zo = ((Mxl - tx)z\ + Cxi - Cxo) I (Mxo - tx) zl = ((Cyl - Cyo)(Mxo - tx) - (Cxi - Cxo)(Myo - ty)) I
((Myo - ty)(Mxl - tx) - (Myl - ty){Mxo - tx)) yo = Myo ■ zo + Cyo yl = Myl - zl + Cyl xo = Mxo ■ zo + Cxo xl = Mxl ■ zl + Cxi
The average distance between the pivot points Ro and RI is computed with the following equation and stored as the pivot point of the inεtrument.
Ra e = ((xl + xo) 12,(yl + yo) 12,(zl+ zo)/2)
The pivot point can be continually updated with the above deεcribed algorithm routine. Any movement of the pivot point can be compared to a threεhold value and a warning εignal can be isεued or the robotic εystem can become diεengaged if the pivot point moveε beyond a εet limit. The compariεon with a εet limit may be uεeful in determining whether the patient is being moved, or the instrument iε being manipulated outεide of the patient, εituationε which may reεult in injury to the patient or the occupantε of the operating room.
While certain exemplary embodimentε have been deεcribed and εhown in the accompanying drawingε, it iε to be underεtood that εuch embodiments are merely illustrative of and not restrictive on the broad invention, and that this invention not be limited to the specific conεtructionε and arrangementε εhown and deεcribed, εince variouε other modificationε may occur to thoεe ordinarily εkilled in the art.

Claims

What iε claimed iε:
1. A εyεtem that allowε a uεer to remotely control the movement of a εurgical instrument inside a patient, wherein the surgical instrument has a longitudinal axiε, compriεing: attachment meanε for holding the εurgical instrument; rotation meanε for rotating the εurgical inεtrument about the longitudinal axis; movement meanε for moving the εurgical inεtrument relative to the patient; input meanε for providing input εignalε in reεponεe to a command provided by the user; and, control means for controlling said movement meanε and εaid rotation meanε to poεition the εurgical inεtrument in reεponεe to εaid input εignalε.
2. The εyεtem aε recited in claim 1, wherein εaid rotation meanε includeε a worm gear adapted to rotate a correεponding bearing member attached to the εurgical inεtrument.
3. The εyεtem aε recited in claim 2, wherein εaid attachment meanε includeε a collar attached to the εurgical instrument and coupled to a collar holder.
4. The syεtem aε recited in claim 1, wherein εaid movement meanε includes a first linkage arm attached to εaid attachment meanε and a firεt actuator which can rotate εaid firεt linkage arm and εaid attachment means in a plane perpendicular to a firεt z axiε, εaid firεt actuator being coupled to a linear actuator which can tranεlate εaid attachment meanε along an axiε parallel with the firεt z axiε.
5. The εyεtem aε recited in claim 4, wherein εaid control meanε includeε firεt actuator εenεor meanε coupled to εaid linear actuator for providing a firεt feedback εignal which corresponds to a location of said first actuator on the firεt z axiε, and second actuator εenεor meanε coupled to εaid firεt actuator for providing a εecond feedback εignal which correεponds to a location of εaid attachment meanε in the plane that iε perpendicular to the firεt z axiε.
6. The εyεtem aε recited in claim 5, wherein εaid movement meanε includes a second actuator attached to said first actuator by a εecond linkage arm, εaid εecond actuator being adapted to rotate εaid firεt actuator and said attachment means in the plane that is perpendicular to the first z axis.
7. The syεtem aε recited in claim 6, wherein said control means includes third actuator εenεor means coupled to said second actuator for providing a third feedback signal which correspondε to a location of εaid firεt actuator in the plane that iε perpendicular to the firεt z axiε.
8. The εyεtem aε recited in claim 2, wherein εaid attachment meanε haε a firεt joint that allowε the surgical inεtrument to rotate about a longitudinal axiε of εaid firεt linkage arm and a εecond joint that allowε the εurgical inεtrument to rotate about an axis that is perpendicular to the longitudinal axis of said first linkage arm.
9. The εyεtem aε recited in claim 8, wherein εaid control meanε includeε firεt joint εenεor meanε coupled to said attachment means for providing a first joint feedback signal which correspondε to a firεt angular poεition of the εurgical inεtrument relative to a εecond x axiε, and εecond joint εenεor meanε coupled to εaid attachment meanε for providing a second joint feedback signal which correspondε to a εecond angular poεition of the εurgical instrument relative to the second y axis.
10. The syεtem aε recited in claim 6, further comprising clutch means for disengaging εaid firεt actuator from εaid linear actuator, said second actuator from said first actuator and said third actuator from εaid εecond actuator when εaid clutch meanε receiveε a clutch input εignal.
11. The system as recited in claim 6, wherein said first, εecond and third actuatorε are electric motorε.
12. The εyεtem aε recited in claim 1, wherein εaid control meanε is a computer which receiveε input signals from said input means and provideε output εignalε to εaid control meanε to move the poεition of the εurgical instrument.
13. The εyεtem aε recited in claim 12, further compriεing εtorage means for storing a first position of εaid end effector upon receiving a firεt εtorage input εignal and moving said end effector to said firεt poεition upon receiving a εecond εtorage input εignal.
14. The system as recited in claim 1, wherein εaid input meanε includeε a foot pedal which can be preεεed by the uεer to generate εaid input εignalε.
15. A εyεtem that allowε a uεer to remotely control the movement of a εurgical inεtrument inεide a patient, compriεing: a table adapted to εupport the patient; a firεt linkage arm having a longitudinal axis; an end effector attached to εaid firεt linkage arm and adapted to hold the εurgical instrument, said end effector having a first joint that allowε the εurgical inεtrument to rotate about the longitudinal axiε of said first linkage arm, said end effector further having a second joint that allows the εurgical instrument to rotate about an axis that iε perpendicular to the longitudinal axiε of εaid first linkage arm; a worm gear operatively connected to said end effector; a bearing attached to the εurgical inεtrument and operatively coupled to said worm gear; a first actuator connected to said first linkage arm such that εaid firεt actuator can rotate εaid firεt linkage arm in a plane perpendicular to a firεt z axis; a εecond linkage arm connected to εaid firεt actuator; a εecond actuator connected to εaid εecond linkage arm εuch that εaid second actuator can rotate said εecond linkage arm in the plane perpendicular to the firεt z axiε; a linear actuator attached to εaid table and εaid εecond actuator εuch that said linear actuator can translate εaid εecond actuator along the firεt z axis; a manually operated input device adapted to provide an input signal; and, control means for providing output εignalε in reεponεe to said input signals from said foot pedal, εuch that εaid output εignalε actuate εaid actuators to move the surgical instrument relative to the patient.
16. The syεtem aε recited in claim 15, further compriεing clutch meanε for diεengaging εaid firεt actuator from εaid linear actuator, εaid εecond actuator from εaid firεt actuator and εaid third actuator from εaid εecond actuator when εaid clutch meanε receiveε a clutch input εignal.
17. The εyεtem aε recited in claim 14, wherein εaid control meanε includes firεt actuator εenεor meanε coupled to εaid linear actuator for providing a firεt feedback εignal which correεpondε to a location of εaid third actuator on the firεt z axiε, εecond actuator εenεor meanε coupled to εaid firεt actuator for providing a εecond feedback εignal which correεpondε to a location of εaid end effector in the plane that iε perpendicular to the firεt z axiε and third actuator εenεor means coupled to said εecond actuator for providing a third feedback signal which correspondε to a location of εaid first actuator in the plane that is perpendicular to the first z axis.
18. The syεtem as recited in claim 17, wherein said control meanε includes first joint εenεor meanε coupled to said end effector for providing a first joint feedback εignal which correεpondε to a firεt angular poεition of the εurgical instrument relative to a second x axis, and second joint sensor means coupled to said end effector for providing a εecond joint feedback εignal which correεpondε to a εecond angular poεition of the εurgical inεtrument relative to the εecond y axiε.
19. The εyεtem as recited in claim 18, further comprising εtorage meanε for εtoring a firεt poεition of εaid end effector upon receiving a firεt εtorage input εignal and moving said end effector to said first poεition upon receiving a εecond εtorage input signal.
20. A method for moving a surgical instrument relative to a patient, wherein the surgical instrument haε a longitudinal axiε and an end that iε inεerted into the patient, compriεing the εtepε of: a) providing a robotic arm aεsembly located within a firεt coordinate system having a first x axis, a firεt y axiε and a firεt z axiε, εaid robotic arm aεεembly being adapted to move an end effector relative to the patient in reεponεe to an input command from the uεer, εaid end effector having rotation meanε for rotating the εurgical inεtrument about the longitudinal axiε and being located within a εecond coordinate εyεtem having a εecond x axis, a second y axis and a second z axis; b) attaching the surgical instrument to said end effector; c) inεerting the εurgical inεtrument into the patient, wherein the surgical instrument defines a third coordinate system having a third x axis, a third y axis and third z axis and is located within a fourth coordinate εyεtem having a fourth x axiε, a fourth y axiε and fourth z axiε; d) entering an input command to move the εurgical inεtrument an increment in the third coordinate εyεtem; e) computing an incremental movement of εaid end effector in the εecond coordinate εyεtem from the incremental movement of the end of the εurgical instrument in the third coordinate εyεtem; f) computing an incremental movement of εaid end effector within the firεt coordinate εyεtem from the incremental movement of εaid end effector in the εecond coordinate εystem; g) moving said robotic arm asεembly until εaid end effector haε moved the computed incremental movement in the firεt coordinate syεtem; h) computing an angle of rotation of the εurgical inεtrument εuch that the third x axis is orthogonal to a cross- product of a unit vector of the third Z axis and a unit vector of the fourth Z axiε; and, i) rotating the surgical instrument the computed angle of rotation.
21. The method as recited in claim 20, wherein said incremental movement of said end effector in said εecond coordinate εyεtem iε computed in accordance with the following tranεformation matrix:
cos(flό) 0 -sin(α6) Λ fAx"^ -sin(α5)sin(α6) cos(α5) -sin(α5)cos(α6) Ay" cos(α5)sin(α6) sin(α5) cos(α5)cos( 6)
Figure imgf000040_0001
Az"j
wherein; ΔX" the incremental movement of the end of the εurgical instrument along the third x axis;
Δy" the incremental movement of the end of the surgical instrument along the third y axis;
ΔZ- = the incremental movement of the end of the εurgical inεtrument along the third z axiε; a5 = the angle of the εurgical inεtrument and a εecond x
- z plane in the second coordinate εyεtem; a6 = the angle of the εurgical inεtrument and a εecond y
- z plane in the second coordinate εyεtem;
ΔX' = the computed incremental movement of εaid end effector along the εecond x axis;
-.y the computed incremental movement of said end effector along the second y axis; Δz ' = the computed incremental movement of εaid end effector along the εecond z axis.
22. The method as recited in claim 21, wherein εaid incremental movement of εaid end effector in εaid firεt coordinate εyεtem iε computed in accordance with the following transformation matrix:
Figure imgf000041_0001
wherein; Δx = the computed incremental movement of said end effector along the firεt x axiε;
-y = the computed incremental movement of said end effector along the first y axis;
^z = the computed incremental movement of said end effector along the first z axis; π = the angle between εaid end effector and the firεt x axis.
23. The method aε recited in claim 22, further compriεing the stepε of determining the computed rotational angle to rotate the surgical instrument about the longitudinal axis in accordance with the following εtepε:
ΔΘ6 = zi" x (yo" x yi" where ;
Δθδ = the angle that the instrument iε to be rotated about the third z" axis; yo" - is a vector orientation of the y" axiε when the inεtrument iε in a firεt position; yi" = iε the vector orientation of the y" axiε when the inεtrument is in a second position; zi" = is the vector orientation of the z" axiε when the inεtrument iε in a second position;
wherein the vectors of the yi" and zi" axiε are computed with the following algorithmε;
cos05 0 -sin05 0 "] = si nn 0θ44 ssiinθ. COS04 -sinθ4 cos05 0 cosθ4 sinθ. sinθ cos04 cosθ5
yi"= zi"xxi"
where;
04 = is the angle between the instrument and the z axis in a y-z plane;
05 = is the angle between the instrument and the z axiε in a x-z plane; z = is the unit vector of the fourth z axis in the first coordinate syεtem.
24. The method aε recited in claim 20, further compriεing the steps of locating a pivot point Rave of tne surgical instrument and the patient in accordance with the following steps :
Po(x, y and z) = coordinates of the intersection of the end effectorε and the inεtrument within the firεt coordinate εyεtem in the firεt position;
PI (x, y and z) = the coordinateε of the interεection of the end effector and the inεtrument within the firεt coordinate εyεtem in the εecond position;
computing an angular movement Δθ of the εurgical inεtrument aε follows;
Aθ =arcsin( |7| )
T = U0 x Ul where;
T = a vector which iε a croεε-product of unit vectorε UO and
Ul, the T vector defining an orientation of a line that intersects both lines Lo and Ll at a point where T is perpendicular to both lineε Lo and Ll;
Uo(x, y and z) = unit vectorε of the inεtrument in the firεt poεition within the firεt coordinate system; Ul (x, y and z) = unit vectorε of the inεtrument in the εecond poεition within the firεt coordinate εyεtem; if Aθ iε greater than a predetermined value define a line Lo that repreεents the surgical instrument in a first position; xo = Mxo • Zo + Cxo yo = Myo • Zo + Cyo
and define a Ll that representε the εurgical inεtrument in a εecond position: xl = Mxl-Zl + Cxi yl = Myl-Zl + Cyl
where;
Zo = a Z coordinate along the line Lo relative to the z axis of the first coordinate syεtem;
Zl = a Z coordinate along the line Ll relative to the z axiε of the firεt coordinate system;
Mxo = a slope of the line Lo aε a function of Zo;
Myo = a εlope of the line Lo aε a function of Zo;
Mxl = a εlope of the line Ll as a function of Zl;
Myl = a slope of the line Ll aε a function of Zl;
Cxo = a constant which representε the interεection of the line
Lo and the x axiε of the firεt coordinate εyεtem;
Cyo = a conεtant which repreεentε the interεection of the line
Lo and the y axiε of the firεt coordinate εyεtem;
Cxi = a conεtant which repreεentε the interεection of the line
Ll and the x axiε of the firεt coordinate εyεtem; Cyl = a conεtant which represents the intersection of the line Ll and the y axis of the first coordinate system;
computing the terms Mxo, Myo, Mxl, Myl, Cxo, Cyo, Cxi and Cyl as follows;
Mxo = Uxo/Uzo
Myo = Uyo/Uzo
Mxl = Uxl/Uzl
Myl = Uyl/Uzl
CxO = Pox - Mxl •Poz CyO = Poy - Myl-Poz
Cxi = Plx - Mxl-Plz Cyl = Ply - Myl-Plz
computing the slopes tx and ty of the vector aε follows; tx = Tx/Tz ty = Ty/Tz
where; tx = the εlope of a line defined by vector T relative to the Z-x plane of the first coordinate system; ty = the slope of a line defined by vector T relative to the Z-y plane of the first coordinate system; Tx = the x component of the vector T Ty = the y component of the vector T Tz = the z component of the vector T
Computing the pivot points R(xo, yo and Zo) and R(xl, yl and Zl) as follows:
zo = ((Mxl - tx)zl + Cxi - Cxo) I (Mxo - tx) zl = ((Cyl - Cyo)(Mxo - tx) - (Cx - Cxo)(Myo - ty)) I
((Myo - ty)(Mxl - tx) - (Myl - ty)(Mxo - tx)) yo = Myo • zo + Cyo yl = Myl m Zl + Cyl xo = Mxo • zo + Cxo
Figure imgf000046_0001
computing the pivot point Rave s follows;
Ra.e =((*ι+ x°) 12,(yi+ yo) 12,(zι+ zo) 12) .
25. The method as recited in claim 20, wherein εaid end effector iε moved in εaid firεt coordinate εyεtem in accordance with the following equation:
Figure imgf000046_0002
where ;
t = t ime ;
θ0 = the initial position of εaid end effector;
θi = the final poεition of εaid end effector;
θ0 = the velocity of said end effector at position θ0;
0, = the velocity of said end effector at position θi .
26. A method for moving a εurgical inεtrument relative to a patient, wherein the εurgical inεtrument haε a longitudinal axiε an end that iε inεerted into the patient, compriεing the εteps of: a) providing a robotic arm asεembly located within a first coordinate system having a first x axis, a firεt y axiε and a firεt z axiε, εaid robotic arm aεεembly having an end effector that iε located within a second coordinate syεtem having a εecond x axiε, a εecond y axiε and a εecond z axiε, εaid robotic arm aεεembly having a first actuator coupled to said end effector by a first linkage arm and a second actuator coupled to said first actuator by a εecond linkage arm, εaid actuatorε being adapted to move εaid end effector in a plane perpendicular to the firεt z axis, εaid robotic aεεembly furthe: having a linear actuator coupled to εaid third actuator to move εaid εecond actuator along the firεt z axiε; b) attaching the surgical instrument to εaid end effector; c) inεerting the εurgical instrument into the patient, wherein the surgical inεtrument defineε a third coordinate εyεtem having a third x axiε, a third y axiε and third z axis and is located within a fourth coordinate εyεtem having a fourth x axiε, a fourth y axiε and a fourth z axiε; d) entering an input command to move the εurgical inεtrument an increment in the third coordinate εyεtem; e) computing an incremental movement of εaid end effector within the εecond coordinate εyεtem from the incremental movement of the end of the εurgical inεtrument in the third coordinate εyεtem; f) computing an incremental movement of εaid end effector within the firεt coordinate εystem from the incremental movement of said end effector in the second coordinate εyεtem; g) moving εaid robotic arm aεεembly until said end effector haε moved the incremental movement in the first coordinate system; h) computing an angle of rotation of the surgical inεtrument εuch that the third x axiε iε orthogonal to a cross- product of a vector of the third Z axis and a vector of the fourth Z axiε; and, i) rotating the εurgical inεtrument the computed angle of rotation.
27. The method aε recited in claim 26, wherein εaid incremental movementε of εaid end effector in said second coordinate syεtem iε computed in accordance with the following tranεformation matrix:
Figure imgf000049_0001
wherein
ΔXx"" = the incremental movement of the end of the εurgical inεtrument along the third x axis;
Δy" the incremental movement of the end of the surgical instrument along the third y axis;
ΔZ" = the incremental movement of the end of the εurgical inεtrument along the third z axiε; a5 the angle between the εurgical inεtrument and the εecond z axiε in a y - z plane in the εecond coordinate εyεtem; a6 the angle between the εurgical inεtrument and the εecond z axiε in a x - z plane in the εecond coordinate syεtem;
ΔX' = the computed incremental movement of εaid end effector along the second x axis;
-y < = the computed incremental movement of said end effector along the εecond y axiε; Δz ' = the computed incremental movement of εaid end effector along the εecond z axiε.
28. The method aε recited in claim 27, wherein εaid incremental movement of εaid end effector in the firεt coordinate system is computed in accordance with the following information matrix:
Figure imgf000050_0001
wherein; Δx = the computed incremental movement of said end effector along the firεt x axiε.
Δy = the computed incremental movement of εaid end effector along the firεt y axiε.
A7z. == the computed incremental movement of εaid end effector along the first z axis, π the angle between said end effector and the firεt x axiε.
29. The method aε recited in claim 28, wherein εaid linear actuator tranεlateε εaid third actuator Δz, εaid third actuator rotateε εaid third linkage arm an angle of Δa2, wherein a2 iε computed by the equationε; Δ = cos -ι (x - L3cos(π)f + (y - L3sin(π))2 + Ll2 - L22 2Ll j(x ~ L3cos(π)f + (y - L3sm(π)f
Figure imgf000051_0001
Aa2 = a0 + / - A
said second actuator rotates said second linkage arm an angle Δa3 wherein Δa3 iε computed by the equation;
(x - L3cos(π))2 + (y - L3sm(π))2 - Ll2 - Ll1 \
Δα3 = π—cos
2LIL2
wherein; Ll = is the length of said third linkage arm; L2 = iε the length of εaid εecond linkage arm; L3 = iε the length of εaid third firεt arm;
and εaid firεt actuator rotateε εaid firεt linkage arm an angle Δa4 wherein Δ 4 iε computed by the equation:
Δα4= π - Aa2 - Aa3
30. The method aε recited in claim 29, further compriεing the εtepε of determining the computed rotational angle to rotate the εurgical inεtrument about the longitudinal axiε in accordance with the following εtepε: ΔΘ6 = zi " x (yo " x yi " )
where ;
ΔΘ6 = the angle that the instrument iε to be rotated about the third z" axis; yo" = iε a vector orientation of the y" axiε when the inεtrument iε in a firεt position; yi" = iε the vector orientation of the y" axiε when the inεtrument iε in a εecond poεition; zi" = is the vector orientation of the z" axis when the instrument is in a second position;
wherein the vectors of the yi" and zi" axis are computed with the following algorithmε;
cosθ5 0 -sinθ5 0
[z? "] = -sin04sinθ5 cosθ4 -sinθ4cos05 0 cosθ4sinθ5 sin0 cosθ4cosθ5
yi"= zi"xxi"
where;
04 = is the angle between the instrument and the z axis in a y-z plane;
05 = is the angle between the inεtrument and the z axis in a x-z plane; z = iε the unit vector of the fourth z axis in the first coordinate syεtem.
31. The method aε recited in claim 30, further compriεing the steps of locating a pivot point Rave of tne surgical instrument and the patient in accordance with the following steps :
Po(x, y and z) = coordinates of the interεection of the end effectorε and the inεtrument within the firεt coordinate εyεtem in the firεt poεition;
Pl(x, y and z) = the coordinateε of the interεection of the end effector and the inεtrument within the firεt coordinate εyεtem in the second position;
computing an angular movement Δθ of the surgical instrument as follows;
Aθ =arcsin( |r| )
T = U0 x Ul where;
T = a vector which is a crosε-product of unit vectorε UO and
Ul, the T vector defining an orientation of a line that interεectε both lineε Lo and Ll at a point where T iε perpendicular to both lineε Lo and Ll;
Uo(x, y and z) = unit vectorε of the inεtrument in the firεt poεition within the firεt coordinate εyεtem; Ul(x, y and z) = unit vectors of the instrument in the second position within the firεt coordinate εyεtem; if Aθ iε greater than a predetermined value define a line Lo that representε the εurgical instrument in a first poεition; xo = Mxo • Zo + Cxo yo = Myo • Zo + Cyo
and define a Ll that repreεentε the εurgical inεtrument in a εecond poεition: xl = Mxl-Zl + Cxi yl = Myl-Zl + Cyl
where;
Zo = a Z coordinate along the line Lo relative to the z axiε of the firεt coordinate εyεtem;
Zl = a Z coordinate along the line Ll relative to the z axis of the firεt coordinate εyεtem;
Mxo = a εlope of the line Lo aε a function of Zo;
Myo = a εlope of the line Lo aε a function of Zo;
Mxl = a εlope of the line Ll aε a function of Zl;
Myl = a εlope of the line Ll aε a function of Zl;
Cxo = a conεtant which represents the intersection of the line
Lo and the x axis of the firεt coordinate system;
Cyo = a constant which .representε the intersection of the line
Lo and the y axis of the first coordinate εyεtem;
Cxi = a conεtant which repreεentε the interεection of the line
Ll and the x axiε of the first coordinate εyεtem; Cyl - a constant which repreεentε the interεection of the line Ll and the y axis of the firεt coordinate εyεtem;
computing the termε Mxo, Myo, Mxl, Myl, Cxo, Cyo, Cxi and Cyl aε follows;
Mxo = Uxo/Uzo
Myo - Uyo/Uzo
Mxl = Uxl/Uzl
Myl = Uyl/Uzl
CxO = Pox - Mxl •Poz CyO = Poy - Myl-Poz
Cxi = Plx - Mxl-Plz Cyl = Ply - Myl-Plz
computing the εlopeε tx and ty of the unit vector as follows; tx = Tx/Tz ty = Ty/Tz
where; tx = the slope of a line defined by vector T relative to the Z-x plane of the first coordinate system; ty = the slope of a line defined by vector T relative to the Z-y plane of the first coordinate system;
Tx = the x component of the vector T; Ty = the y component of the vector T; Tz = the z component of the vector T;
Computing the pivot pointε R(xo, yo and zo) and R(xl, yl and zl) aε followε:
zo — ((Mxl - tx)zl + Cxi - Cxo) I (Mxo - tx) zl = ((Cyl - Cyo)(Mxo - tx) - (Cx - Cxo)(Myo - ty)) I
((Myo - ty)(Mxl - tx) - (Myl - ty)(Mxo - tx)) yo = Myo • zo + Cyo yl = Myl • zl + Cyl xo = Mxo • zo + Cxo xl = Mxl • zl + Cxi
computing the pivot point Rave as follows ;
Rave =(( >+ χo) 12,(yi+ yo) 12,(zι+ zo) 12) .
32. The method as recited in claim 29, wherein εaid end effector iε moved in accordance with the following equation:
(1-0
Figure imgf000056_0001
where;
t = time;
θ0 = the initial poεition of εaid end effector; θi = the final position of said end effector;
θ0 = the velocity of εaid end effector at poεition θ0;
0,= the velocity of εaid end effector at poεition θi.
33. A εyεtem that allowε a uεer to remotely control the movement of a εurgical inεtrument inεide a patient, compriεing: attachment meanε for holding the εurgical inεtrument; movement meanε for moving εaid attachment meanε and the surgical instrument relative to the patient; input means for providing input signalε in reεponse to a command provided by the user; and, control means for controlling said movement means and the poεition of the εurgical inεtrument in reεponεe to εaid input εignalε.
34. The εyεtem aε recited in claim 33, wherein εaid movement meanε includeε a firεt linkage arm attached to εaid attachment meanε and a first actuator which can rotate said first linkage arm and said attachment means in a plane perpendicular to a first z axis, said firεt actuator being coupled to a liner actuator which can tranεlate said attachment means along an axiε parallel with the first z axis.
35. The εyεtem aε recited in claim 34, wherein εaid control means includes first actuator sensor means coupled to said linear actuator for providing a first feedback signal which correεpondε to a location of εaid firεt actuator on the firεt z axiε, and εecond actuator εenεor meanε coupled to εaid firεt actuator for providing a εecond feedback εignal which correεpondε to a location of εaid attachment means in the plane that is perpendicular to the first z axiε.
36. The εyεtem aε recited in claim 34, wherein εaid movement meanε includeε a εecond actuator attached to εaid firεt actuator by a εecond linkage arm, εaid second actuator being adapted to rotate said first actuator and said attachment means in the plane that iε perpendicular to the firεt z axiε.
37. The εyεtem aε recited in claim 36, wherein εaid control meanε includeε third actuator εenεor meanε coupled to εaid εecond actuator for providing a third feedback εignal which correεponds to a location of said first actuator in the plane that iε perpendicular to the firεt z axiε.
38. The εyεtem aε recited in claim 36, wherein εaid movement meanε includeε a third actuator connected to εaid linear actuator and attached to εaid second actuator by a third linkage arm, εaid third actuator being adapted to rotate εaid second actuator, said first actuator and εaid attachment meanε in the plane that iε perpendicular to the firεt z axis.
39. The syεtem as recited in claim 38, wherein εaid control meanε includes fourth actuator senεor meanε coupled to εaid third actuator for providing a fourth feedback εignal which correεpondε to a location of εaid εecond actuator in the plane that iε perpendicular to the firεt z axiε.
40. The system as recited in claim 34, wherein εaid attachment meanε haε a first joint that allows the εurgical inεtrument to rotate about a longitudinal axiε of εaid firεt linkage arm and a εecond joint that allowε the εurgical inεtrument to rotate about an axiε that is perpendicular to the longitudinal axis of said first linkage arm.
41. The system as recited in claim 40, wherein εaid control meanε includes first joint εensor means coupled to said attachment means for providing a first joint feedback εignal which correεpondε to a firεt angular position of the εurgical inεtrument relative to a εecond x axiε, and second joint senεor means coupled to said attachment means for providing a second joint feedback signal which correεpondε to a second angular position of the surgical instrument relative to the second y axis.
42. The syεtem aε recited in claim 38, further compriεing clutch meanε for diεengaging εaid firεt actuator from εaid linear actuator, εaid εecond actuator from εaid firεt actuator and εaid third actuator from εaid second actuator when said clutch means receives a clutch input signal.
43. The system as recited in claim 38, wherein said first, second and third actuators are electric motorε.
44 The εyεtem aε recited in claim 33, wherein εaid control meanε iε a computer which receives input signalε from εaid input meanε and provideε output signals to εaid control meanε to move the poεition of the surgical instrument.
45. The εystem aε recited in claim 44, further compriεing εtorage meanε for εtoring a firεt position of said end effector upon receiving a first storage input signal and moving said end effector to εaid firεt poεition upon receiving a second storage input εignal.
46. The εyεtem aε recited in claim 33, wherein εaid input meanε iε a foot pedal which iε can be preεεed by the uεer to generate εaid input εignalε.
47. A εystem that allowε a uεer to remotely control the movement of a εurgical inεtrument inεide a patient, comprising: a table adapted to support the patient; a first linkage arm having a longitudinal axis; an end effector attached to said first linkage arm and adapted to hold the surgical instrument, εaid end effector having a firεt joint that allowε the surgical instrument to rotate about the longitudinal axis of εaid firεt linkage arm, εaid end effector further having a εecond joint that allowε the εurgical inεtrument to rotate about an axiε that iε perpendicular to the longitudinal axiε of εaid firεt linkage arm; a firεt actuator connected to εaid firεt linkage arm such that said first actuator can rotate said first linkage arm in a plane perpendicular to a firεt z axiε; a εecond linkage arm connected to εaid firεt actuator; a εecond actuator connected to said second linkage arm such that said second actuator can rotate εaid εecond linkage arm in the plane perpendicular to the first z axis; a third linkage arm connected to said second actuator; a third actuator connected to said third linkage arm such that said third actuator can rotate said third linkage arm in the plane perpendicular to the first z axiε; a linear actuator attached to εaid table and εaid third actuator εuch that εaid linear actuator can translate said third actuator along the first z axiε; a foot pedal adapted to εend an input εignal when depreεεed by the user; and, control meanε for providing output εignalε in reεponεe to εaid input signals from said foot pedal, said output signalε actuate εaid actuators to move the εurgical inεtrument relative to the patient.
48. The εyεtem aε recited in claim 47, further compriεing clutch meanε for diεengaging εaid firεt actuator from εaid linear actuator, εaid εecond actuator from εaid firεt actuator and εaid third actuator from εaid εecond actuator when εaid clutch meanε receiveε a clutch input εignal.
49. The εystem aε recited in claim 46, wherein εaid control meanε includeε firεt actuator εenεor meanε coupled to εaid linear actuator for providing a firεt feedback εignal which correεpondε to a location of εaid third actuator on the first z axis, εecond actuator senεor meanε coupled to εaid firεt actuator for providing a εecond feedback εignal which correεpondε to a location of εaid end effector in the plane that is perpendicular to the first z axis, third actuator senεor meanε coupled to εaid εecond actuator for providing a third feedback εignal which correεpondε to a location of εaid firεt actuator in the plane that is perpendicular to the first z axis, and fourth actuator εenεor meanε coupled to εaid third actuator for providing a fourth feedback εignal which correεpondε to a location of εaid εecond actuator in the plane that iε perpendicular to the firεt z axiε.
50. The εyεtem aε recited in claim 49, wherein εaid control meanε includeε firεt joint εenεor meanε coupled to εaid end effector for providing a first joint feedback signal which correspondε to a firεt angular poεition of the εurgical inεtrument relative to a εecond x axiε, and εecond joint senεor meanε coupled to εaid end effector for providing a εecond joint feedback εignal which correεpondε to a εecond angular poεition of the surgical inεtrument relative to the εecond y axiε.
51. The εystem as recited in claim 50, further comprising εtorage meanε for εtoring a firεt poεition of εaid end effector upon receiving a firεt εtorage input εignal and moving εaid end effector to said first position upon receiving a second storage input εignal.
52. A method for moving a surgical instrument relative to a patient, wherein the εurgical instrument haε an end that iε inεerted into the patient, compriεing the εtepε of: a) providing a robotic arm aεεembly located within a firεt coordinate εyεtem having a firεt x axiε, a firεt y axis and a firεt z axiε, εaid robotic arm aεεembly being adapted to move an end effector relative to the patient in reεponεe to an input command from the uεer, εaid end effector being located within a εecond coordinate εyεtem having a εecond x axiε, a εecond y axiε and a εecond z axis; b) attaching the εurgical inεtrument to εaid end effector; c) inεerting the εurgical inεtrument into the patient, wherein the end of the εurgical instrument iε located within a third coordinate εyεtem having a third x axiε, a third y axiε and third z axiε; d) entering an input command to move the end of the εurgical inεtrument an increment in the third coordinate syεtem; e) computing an incremental movement of εaid end effector in the εecond coordinate εyεtem from the incremental movement of the end of the εurgical inεtrument in the third coordinate system; f) computing an incremental movement of said end effector within the first coordinate εyεtem from the incremental movement of εaid end effector in the εecond coordinate εyεtem; and, g) moving said robotic arm asεembly until εaid end effector haε moved the computed incremental movement in the firεt coordinate εyεtem.
53. The method aε recited in claim 52, wherein εaid incremental movement of εaid end effector in εaid εecond coordinate εyεtem iε computed in accordance with the following tranεformation matrix:
Figure imgf000064_0001
wherein; ΔX" the incremental movement of the end of the surgical inεtrument along the third x axiε.
Δy" the incremental movement of the end of the εurgical inεtrument along the third y axiε.
Δ-7" the incremental movement of the end of the surgical instrument along the third z axis. a5 = the angle of the εurgical inεtrument and a εecond x
- z plane in the εecond coordinate εyεtem. a6 = the angle of the εurgical instrument and a εecond y
- z plane in the εecond coordinate εyεtem. Δx' = the computed incremental movement of εaid end effector along the εecond x axiε. Δy■ = the computed incremental movement of εaid end effector along the εecond y axiε. Δz ' = the computed incremental movement of εaid end effector along the εecond z axiε.
54. The method aε recited in claim 53, wherein εaid incremental movement of εaid end effector in εaid firεt coordinate syεtem iε computed in accordance with the following transformation matrix:
cos(π) -sin(τr) C (Ax^ sin(τr) cos(π) 0 Ay'
Figure imgf000065_0001
0 0 1 Δz'y
wherein; Δx = the computed incremental movement of εaid end effector along the firεt x axiε;
Δy = the computed incremental movement of εaid end effector along the firεt y axiε; Ay. = the computed incremental movement of εaid end effector along the firεt z axiε; π = the angle between εaid end effector and the firεt x a
Figure imgf000066_0001
xiε
55. The method aε recited in claim 54, further compriεing the εtepε of determining the angle aδ after εaid end effector iε moved, and moving εaid robotic arm aεεembly in accordance with the following εubroutine:
If a6 > zero then εaid end effector iε moved an increment equal to:
Δπ = π + conεtant
If a6 < zero then εaid end effector iε moved an increment equal to:
Δπ = π - conεtant
where;
Δπ = the incremental amount of angular movement of εaid end effector;
π = the preceding angle π;
constant = some predetermined incremental angular movement of εaid end effector; until the angle a6 is approximately equal to zero.
56. The method as recited in claim 52, wherein said end effector is moved in εaid firεt coordinate εyεtem in accordance with the following equation:
Figure imgf000067_0001
where;
t = time;
θ0 = the initial poεition of εaid end effector;
θi = the final poεition of εaid end effector;
00 = the velocity of εaid end effector at poεition ΘQ;
0, = the velocity of εaid end effector at poεition θi
57. A method for moving a εurgical inεtrument relative to a patient, wherein the εurgical inεtrument haε an end that iε inεerted into the patient, compriεing the εtepε of: a) providing a robotic arm aεεembly located within a firεt coordinate εyεtem having a firεt x axiε, a firεt y axiε and a firεt z axiε, εaid robotic arm aεεembly having an end effector that iε located within a εecond coordinate εyεtem having a second x axis, a second y axis and a second z axis, εaid robotic arm assembly having a first actuator coupled to said end effector by a first linkage arm, a second actuator coupled to said first actuator by a εecond linkage arm and a third actuator coupled to said second actuator by a third linkage arm, said actuators being adapted to move said end effector in a plane perpendicular to the first z axis, said robotic aεεembly further having a linear actuator coupled to εaid third actuator to move εaid third actuator along the firεt z axiε; b) attaching the εurgical inεtrument to εaid end effector; c) inεerting the εurgical inεtrument into the patient, wherein the end of the εurgical inεtrument iε located within a third coordinate εyεtem having a third x axiε, a third y axiε and third z axiε; d) entering an input command to move the end of the εurgical inεtrument an increment in the third coordinate εyεtem; e) computing an incremental movement of εaid end effector within the εecond coordinate εyεtem from the incremental movement of the end of the εurgical inεtrument in the third coordinate εyεtem; f) computing an incremental movement of εaid end effector within the firεt coordinate εyεtem from the incremental movement of εaid end effector in the εecond coordinate εyεtem; g) moving εaid robotic arm aεεembly until εaid end effector haε moved the incremental movement in the firεt coordinate system.
58. The method as recited in claim 57, wherein said incremental movementε of εaid end effector in εaid εecond coordinate εyεtem is computed in accordance with the following tranεformation matrix:
(Ax'\ cos(α6) 0 -sin( 6) fAx"^
Δy -sin(α5)sin(#6) cos(α5) -sin(α5)cos(α6) Ay" vΔz'y cos(α5)sin( 6) sin(α5) cos(α5)cos(α6) Δz"y
wherein
Δy" the incremental movement of the end of the εurgical instrument along the third x axis;
Δy" the incremental movement of the end of the surgical instrument along the third y axis;
ΔZ" = the incremental movement of the end of the surgical instrument along the third z axis; a5 the angle between the surgical instrument and the εecond z axiε in a y - z plane in the εecond coordinate εyεtem; a6 = the angle between the εurgical inεtrument and the εecond z axiε in a x - z plane in the εecond coordinate εyεtem; Δx■ = the computed incremental movement of εaid end effector along the εecond x axis; Δy' = the computed incremental movement of εaid end effector along the εecond y axis; Δz ' = the computed incremental movement of said end effector along the second z axis.
59. The method as recited in claim 58, wherein said incremental movement of said end effector in the first coordinate syεtem is computed in accordance with the following information matrix:
Figure imgf000070_0001
wherein; Δx = the computed incremental movement of said end effector along the first x axiε.
Δy = the computed incremental movement of εaid end effector along the first y axis,
Δz == the computed incremental movement of said end effector along the first z axis, π the angle between said end effector and the first x axis.
60. The method as recited in claim 59, wherein εaid linear actuator tranεlateε εaid third actuator Δ , εaid third actuator rotateε εaid third linkage arm an angle of Δ 2 , wherein a2 iε computed by the equations;
Figure imgf000071_0001
θ=tan-'2 \ y- H x) x - L3sin(π)
Aa2 = aO + / — A
said second actuator rotates said second linkage arm an angle Δa3 wherein Δ 3 is computed by the equation;
Δα3= π -cos -ι
Figure imgf000071_0002
wherein; Ll = is the length of said third linkage arm; L2 = iε the length of εaid εecond linkage arm; L3 = iε the length of εaid third firεt arm;
and εaid first actuator rotates said first linkage arm an angle Δa4 wherein Δa4 s computed by the equation:
Δα4= π - Aa2 - Aa3
61. The method aε recited in claim 60, further compriεing the εtepε of determining the angle aδ after εaid end effector iε moved, and moving εaid robotic arm aεsembly in accordance with the following subroutine:
If aδ > zero then said end effector is moved an increment equal to:
Δπ = π + conεtant
If aδ < zero then εaid end effector iε moved an increment equal to:
Δπ = π - constant
where;
Δπ = the incremental amount of angular movement of said end effector;
π = the preceding angle π ;
constant = some predetermined incremental angular movement of εaid end effector;
until the angle aδ iε approximately equal to zero.
62. The method aε recited in claim 61, wherein said end effector iε moved in accordance with the following equation:
0(t)= (l-t)2 00+ 200 + 0,J(ι-t)
Figure imgf000073_0001
where;
t = time;
θ0 = the initial poεition of εaid end effector;
θi = the final poεition of εaid end effector;
00= the velocity of εaid end effector at poεition θ0;
0,= the velocity of εaid end effector at poεition θi.
63. An apparatuε for a robotic arm aεεembly that iε adapted to move a εurgical inεtrument relative to a patient, compriεing: a collar adapted to be attached to the εurgical instrument; and, an end effector which haε a magnet adapted to hold εaid collar and the εurgical instrument.
64. A protective cover for a robotic arm aεsembly that is adapted to move a surgical instrument relative to a patient, comprising: a bag adapted to encapsulate the robotic arm asεembly.
PCT/US1993/007343 1992-08-10 1993-08-04 Automated endoscope system for optimal positioning WO1994003113A1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP93919884A EP0653922B2 (en) 1992-08-10 1993-08-04 Automated endoscope system for optimal positioning
AU48084/93A AU4808493A (en) 1992-08-10 1993-08-04 Automated endoscope system for optimal positioning
AT93919884T ATE187622T1 (en) 1992-08-10 1993-08-04 AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMUM POSITIONING
DE69327325T DE69327325T3 (en) 1992-08-10 1993-08-04 AUTOMATED ENDOSCOPY SYSTEM FOR OPTIMUM POSITIONING
JP50555094A JP3298013B2 (en) 1992-08-10 1993-08-04 Automated endoscope system for optimal positioning
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US5524180A (en) 1996-06-04
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JPH09501627A (en) 1997-02-18

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